ARadar Class Reference

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

#include <Radar.h>

Inheritance diagram for ARadar:

Classes
struct	RayData

Public Member Functions
	ARadar (const FObjectInitializer &ObjectInitializer)
void	GetMirrorState (carla::multigpu::SensorState &State) const override
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).
const FRadarData &	GetRadarData () const
void	Set (const FActorDescription &Description) override
void	SetHorizontalFOV (float NewHorizontalFOV)
void	SetMirrorState (const carla::multigpu::SensorState &State) override
void	SetPointsPerSecond (int NewPointsPerSecond)
void	SetRange (float NewRange)
void	SetVerticalFOV (float NewVerticalFOV)
Public Member Functions inherited from ASensor
bool	AreClientsListening ()
	ASensor (const FObjectInitializer &ObjectInitializer)
void	ClearReadyToTick ()
std::optional< FActorAttribute >	GetAttribute (const FString Name)
const UCarlaEpisode &	GetEpisode () const
URandomEngine *	GetRandomEngine ()
float	GetReadyToTickDeltaSeconds () const
int32	GetSeed () const
auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.
bool	IsReadyToTick () const
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.
void	SetEpisode (const UCarlaEpisode &InEpisode)
void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.
void	SetSavingDataToDisk (bool bSavingData)
void	SetSeed (int32 InSeed)
void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()
Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

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 SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.
void	PostActorCreated () override

Protected Attributes
float	HorizontalFOV
int	PointsPerSecond
float	Range
float	VerticalFOV
Protected Attributes inherited from ASensor
bool	bIsActive = false
bool	bSavingDataToDisk = false
URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.
int32	Seed = 123456789
	Seed of the pseudo-random engine.

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.
FRadarData	RadarData
std::vector< RayData >	Rays
FCollisionQueryParams	TraceParams

Additional Inherited Members
Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)

Detailed Description

A ray-cast based Radar sensor.

Definition at line 20 of file Radar.h.

Member Typedef Documentation

FRadarData

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

private

Definition at line 24 of file Radar.h.

Constructor & Destructor Documentation

ARadar()

ARadar::ARadar

(

const FObjectInitializer &

ObjectInitializer

)

Definition at line 29 of file Radar.cpp.

References ASensor::RandomEngine, and TraceParams.

Member Function Documentation

BeginPlay()

void ARadar::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 73 of file Radar.cpp.

References PrevLocation.

CalculateCurrentVelocity()

void ARadar::CalculateCurrentVelocity ( const float  DeltaTime )

private

Definition at line 116 of file Radar.cpp.

References CurrentVelocity, and PrevLocation.

Referenced by PostPhysTick().

CalculateRelativeVelocity()

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

private

Definition at line 211 of file Radar.cpp.

References CurrentVelocity.

Referenced by SendLineTraces().

GetMirrorState()

void ARadar::GetMirrorState ( carla::multigpu::SensorState &  State ) const

overridevirtual

Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

Override only for sensors whose PostPhysTick runs whether or not anyone listens: the primary's sensor owns the state of a sensor computed by a secondary.

Reimplemented from ASensor.

Definition at line 225 of file Radar.cpp.

References UCarlaStatics::GetLargeMapManager(), URandomEngine::GetState(), ALargeMapManager::LocalToGlobalLocation(), PrevLocation, ASensor::RandomEngine, and State.

GetRadarData()

const carla::sensor::data::RadarData & ARadar::GetRadarData

(

)

const

Definition at line 69 of file Radar.cpp.

References RadarData.

GetSensorDefinition()

FActorDefinition ARadar::GetSensorDefinition ( )

static

Definition at line 24 of file Radar.cpp.

References UActorBlueprintFunctionLibrary::MakeRadarDefinition().

PostPhysTick()

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

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 80 of file Radar.cpp.

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

Referenced by PostPhysTick().

SendLineTraces()

void ARadar::SendLineTraces ( float  DeltaTime )

private

Definition at line 123 of file Radar.cpp.

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

Referenced by PostPhysTick(), and SendLineTraces().

Set()

void ARadar::Set ( const FActorDescription &  Description )

overridevirtual

Reimplemented from ASensor.

Definition at line 42 of file Radar.cpp.

References UActorBlueprintFunctionLibrary::SetRadar().

SetHorizontalFOV()

void ARadar::SetHorizontalFOV

(

float

NewHorizontalFOV

)

Definition at line 48 of file Radar.cpp.

References HorizontalFOV.

SetMirrorState()

void ARadar::SetMirrorState ( const carla::multigpu::SensorState &  State )

overridevirtual

Reimplemented from ASensor.

Definition at line 237 of file Radar.cpp.

References UCarlaStatics::GetLargeMapManager(), ALargeMapManager::GlobalToLocalLocation(), PrevLocation, ASensor::RandomEngine, URandomEngine::SetState(), and State.

SetPointsPerSecond()

void ARadar::SetPointsPerSecond

(

int

NewPointsPerSecond

)

Definition at line 63 of file Radar.cpp.

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

SetRange()

void ARadar::SetRange

(

float

NewRange

)

Definition at line 58 of file Radar.cpp.

References Range.

SetVerticalFOV()

void ARadar::SetVerticalFOV

(

float

NewVerticalFOV

)

Definition at line 53 of file Radar.cpp.

References VerticalFOV.

Member Data Documentation

CurrentVelocity

FVector ARadar::CurrentVelocity

private

Definition at line 82 of file Radar.h.

Referenced by CalculateCurrentVelocity(), and CalculateRelativeVelocity().

HorizontalFOV

float ARadar::HorizontalFOV

protected

Definition at line 62 of file Radar.h.

Referenced by SendLineTraces(), and SetHorizontalFOV().

PointsPerSecond

int ARadar::PointsPerSecond

protected

Definition at line 68 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 85 of file Radar.h.

Referenced by BeginPlay(), CalculateCurrentVelocity(), GetMirrorState(), and SetMirrorState().

RadarData

FRadarData ARadar::RadarData

private

Definition at line 78 of file Radar.h.

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

Range

float ARadar::Range

protected

Definition at line 59 of file Radar.h.

Referenced by SendLineTraces(), and SetRange().

Rays

std::vector<RayData> ARadar::Rays

private

Definition at line 96 of file Radar.h.

Referenced by SendLineTraces().

TraceParams

FCollisionQueryParams ARadar::TraceParams

private

Definition at line 80 of file Radar.h.

Referenced by ARadar(), and SendLineTraces().

VerticalFOV

float ARadar::VerticalFOV

protected

Definition at line 65 of file Radar.h.

Referenced by SendLineTraces(), and SetVerticalFOV().

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

• Radar.h
• Radar.cpp