CARLA: ARadar Class Reference

CARLA

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

#include <Radar.h>

Inheritance diagram for ARadar:

Collaboration diagram for ARadar:

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)

boost::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream. More...

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

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...

void	PostActorCreated () override

Protected Attributes
float	HorizontalFOV

int	PointsPerSecond

float	Range

float	VerticalFOV

Protected Attributes inherited from ASensor
bool	bIsActive = false

URandomEngine *	RandomEngine = 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< RayData >	Rays

FCollisionQueryParams	TraceParams

Detailed Description

A ray-cast based Radar sensor.

Definition at line 21 of file Radar.h.

Member Typedef Documentation

◆ FRadarData

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

private

Definition at line 25 of file Radar.h.

Constructor & Destructor Documentation

◆ ARadar()

ARadar::ARadar ( const FObjectInitializer & ObjectInitializer )

Definition at line 25 of file Radar.cpp.

References ASensor::RandomEngine, and TraceParams.

Member Function Documentation

◆ BeginPlay()

void ARadar::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 65 of file Radar.cpp.

References PrevLocation.

◆ CalculateCurrentVelocity()

void ARadar::CalculateCurrentVelocity ( const float DeltaTime )

private

Definition at line 108 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 202 of file Radar.cpp.

References CurrentVelocity.

Referenced by SendLineTraces().

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◆ GetSensorDefinition()

FActorDefinition ARadar::GetSensorDefinition ( )

static

Definition at line 20 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 72 of file Radar.cpp.

References CalculateCurrentVelocity(), carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), RadarData, carla::sensor::data::RadarData::Reset(), and SendLineTraces().

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◆ SendLineTraces()

void ARadar::SendLineTraces ( float DeltaTime )

private

Definition at line 115 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 38 of file Radar.cpp.

References UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetHorizontalFOV()

void ARadar::SetHorizontalFOV ( float NewHorizontalFOV )

Definition at line 44 of file Radar.cpp.

References HorizontalFOV.

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetPointsPerSecond()

void ARadar::SetPointsPerSecond ( int NewPointsPerSecond )

Definition at line 59 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 54 of file Radar.cpp.

References Range.

Referenced by UActorBlueprintFunctionLibrary::SetRadar().

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◆ SetVerticalFOV()

void ARadar::SetVerticalFOV ( float NewVerticalFOV )

Definition at line 49 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: