GnssSensor.h

Go to the documentation of this file.

// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Carla/Sensor/Sensor.h"
 
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
 
#include <util/disable-ue4-macros.h>
#include "carla/geom/GeoProjection.h"
#include <util/enable-ue4-macros.h>
 
#include "GnssSensor.generated.h"
 
/// Gnss sensor representation
/// The actual position calculation is done one server side
UCLASS()
class CARLA_API AGnssSensor : public ASensor
{
  GENERATED_BODY()
 
public:
 
  AGnssSensor(const FObjectInitializer &ObjectInitializer);
 
  static FActorDefinition GetSensorDefinition();
 
  void Set(const FActorDescription &ActorDescription);
 
  void GetMirrorState(carla::multigpu::SensorState &State) const override;
 
  void SetMirrorState(const carla::multigpu::SensorState &State) override;
 
  // virtual void PrePhysTick(float DeltaSeconds) override;
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
 
  void SetLatitudeDeviation(float Value);
  void SetLongitudeDeviation(float Value);
  void SetAltitudeDeviation(float Value);
 
  void SetLatitudeBias(float Value);
  void SetLongitudeBias(float Value);
  void SetAltitudeBias(float Value);
 
  float GetLatitudeDeviation() const;
  float GetLongitudeDeviation() const;
  float GetAltitudeDeviation() const;
 
  float GetLatitudeBias() const;
  float GetLongitudeBias() const;
  float GetAltitudeBias() const;
 
  double GetLatitudeValue() const;
  double GetLongitudeValue() const;
  double GetAltitudeValue() const;
 
protected:
 
  virtual void BeginPlay() override;
 
private:
 
  carla::geom::GeoProjection CurrentGeoProjection;
 
  float LatitudeDeviation;
  float LongitudeDeviation;
  float AltitudeDeviation;
 
  float LatitudeBias;
  float LongitudeBias;
  float AltitudeBias;
 
  double LatitudeValue;
  double LongitudeValue;
  double AltitudeValue;
};