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ARadar Class Reference

A ray-cast based Radar sensor. More...

#include <Radar.h>

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Classes

struct  RayData
 

Public Member Functions

 ARadar (const FObjectInitializer &ObjectInitializer)
 
void Set (const FActorDescription &Description) override
 
void SetHorizontalFOV (float NewHorizontalFOV)
 
void SetPointsPerSecond (int NewPointsPerSecond)
 
void SetRange (float NewRange)
 
void SetVerticalFOV (float NewVerticalFOV)
 
- Public Member Functions inherited from ASensor
 ASensor (const FObjectInitializer &ObjectInitializer)
 
URandomEngineGetRandomEngine ()
 
int32 GetSeed () const
 
auto GetToken () const
 Return the token that allows subscribing to this sensor's stream. More...
 
FDataStream MoveDataStream ()
 
virtual void PrePhysTick (float DeltaSeconds)
 
void SetDataStream (FDataStream InStream)
 Replace the FDataStream associated with this sensor. More...
 
void SetEpisode (const UCarlaEpisode &InEpisode)
 
void SetSeed (int32 InSeed)
 
void Tick (const float DeltaTime) final
 

Static Public Member Functions

static FActorDefinition GetSensorDefinition ()
 

Protected Member Functions

void BeginPlay () override
 
virtual void PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime) override
 
- Protected Member Functions inherited from ASensor
void EndPlay (EEndPlayReason::Type EndPlayReason) override
 
template<typename SensorT >
FAsyncDataStream GetDataStream (const SensorT &Self)
 Return the FDataStream associated with this sensor. More...
 
const UCarlaEpisodeGetEpisode () const
 
void PostActorCreated () override
 

Protected Attributes

float HorizontalFOV
 
int PointsPerSecond
 
float Range
 
float VerticalFOV
 
- Protected Attributes inherited from ASensor
URandomEngineRandomEngine = nullptr
 Random Engine used to provide noise for sensor output. More...
 
int32 Seed = 123456789
 Seed of the pseudo-random engine. More...
 

Private Types

using FRadarData = carla::sensor::data::RadarData
 

Private Member Functions

void CalculateCurrentVelocity (const float DeltaTime)
 
float CalculateRelativeVelocity (const FHitResult &OutHit, const FVector &RadarLocation)
 
void SendLineTraces (float DeltaTime)
 

Private Attributes

FVector CurrentVelocity
 
FVector PrevLocation
 Used to compute the velocity of the radar. More...
 
FRadarData RadarData
 
std::vector< RayDataRays
 
FCollisionQueryParams TraceParams
 

Detailed Description

A ray-cast based Radar sensor.

Definition at line 21 of file Radar.h.

Member Typedef Documentation

◆ FRadarData

Definition at line 25 of file Radar.h.

Constructor & Destructor Documentation

◆ ARadar()

ARadar::ARadar ( const FObjectInitializer &  ObjectInitializer)

Definition at line 22 of file Radar.cpp.

References ASensor::RandomEngine, and TraceParams.

Member Function Documentation

◆ BeginPlay()

void ARadar::BeginPlay ( )
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 62 of file Radar.cpp.

References PrevLocation.

◆ CalculateCurrentVelocity()

void ARadar::CalculateCurrentVelocity ( const float  DeltaTime)
private

Definition at line 84 of file Radar.cpp.

References CurrentVelocity, and PrevLocation.

Referenced by PostPhysTick().

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◆ CalculateRelativeVelocity()

float ARadar::CalculateRelativeVelocity ( const FHitResult &  OutHit,
const FVector &  RadarLocation 
)
private

Definition at line 178 of file Radar.cpp.

References CurrentVelocity.

Referenced by SendLineTraces().

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◆ GetSensorDefinition()

FActorDefinition ARadar::GetSensorDefinition ( )
static

Definition at line 17 of file Radar.cpp.

References UActorBlueprintFunctionLibrary::MakeRadarDefinition().

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◆ PostPhysTick()

void ARadar::PostPhysTick ( UWorld *  World,
ELevelTick  TickType,
float  DeltaTime 
)
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 69 of file Radar.cpp.

References CalculateCurrentVelocity(), ASensor::GetDataStream(), RadarData, carla::sensor::data::RadarData::Reset(), and SendLineTraces().

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◆ SendLineTraces()

void ARadar::SendLineTraces ( float  DeltaTime)
private

Definition at line 91 of file Radar.cpp.

References CalculateRelativeVelocity(), URandomEngine::GetUniformFloat(), URandomEngine::GetUniformFloatInRange(), HorizontalFOV, PointsPerSecond, RadarData, ASensor::RandomEngine, Range, Rays, TraceParams, VerticalFOV, and carla::sensor::data::RadarData::WriteDetection().

Referenced by PostPhysTick().

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◆ Set()

void ARadar::Set ( const FActorDescription Description)
overridevirtual

Reimplemented from ASensor.

Definition at line 35 of file Radar.cpp.

References UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetHorizontalFOV()

void ARadar::SetHorizontalFOV ( float  NewHorizontalFOV)

Definition at line 41 of file Radar.cpp.

References HorizontalFOV.

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetPointsPerSecond()

void ARadar::SetPointsPerSecond ( int  NewPointsPerSecond)

Definition at line 56 of file Radar.cpp.

References PointsPerSecond, RadarData, and carla::sensor::data::RadarData::SetResolution().

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetRange()

void ARadar::SetRange ( float  NewRange)

Definition at line 51 of file Radar.cpp.

References Range.

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetVerticalFOV()

void ARadar::SetVerticalFOV ( float  NewVerticalFOV)

Definition at line 46 of file Radar.cpp.

References VerticalFOV.

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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Member Data Documentation

◆ CurrentVelocity

FVector ARadar::CurrentVelocity
private

Definition at line 78 of file Radar.h.

Referenced by CalculateCurrentVelocity(), and CalculateRelativeVelocity().

◆ HorizontalFOV

float ARadar::HorizontalFOV
protected

Definition at line 58 of file Radar.h.

Referenced by SendLineTraces(), and SetHorizontalFOV().

◆ PointsPerSecond

int ARadar::PointsPerSecond
protected

Definition at line 64 of file Radar.h.

Referenced by SendLineTraces(), and SetPointsPerSecond().

◆ PrevLocation

FVector ARadar::PrevLocation
private

Used to compute the velocity of the radar.

Definition at line 81 of file Radar.h.

Referenced by BeginPlay(), and CalculateCurrentVelocity().

◆ RadarData

FRadarData ARadar::RadarData
private

Definition at line 74 of file Radar.h.

Referenced by PostPhysTick(), SendLineTraces(), and SetPointsPerSecond().

◆ Range

float ARadar::Range
protected

Definition at line 55 of file Radar.h.

Referenced by SendLineTraces(), and SetRange().

◆ Rays

std::vector<RayData> ARadar::Rays
private

Definition at line 92 of file Radar.h.

Referenced by SendLineTraces().

◆ TraceParams

FCollisionQueryParams ARadar::TraceParams
private

Definition at line 76 of file Radar.h.

Referenced by ARadar(), and SendLineTraces().

◆ VerticalFOV

float ARadar::VerticalFOV
protected

Definition at line 61 of file Radar.h.

Referenced by SendLineTraces(), and SetVerticalFOV().


The documentation for this class was generated from the following files: