UCarlaLidarSubsystem Class Reference

Subsystem responsible for simulating all ray-cast LiDARs of a world. More...

#include <CarlaLidarSubsystem.h>

Inheritance diagram for UCarlaLidarSubsystem:

Public Member Functions
virtual void	Deinitialize () override
void	FinishLidarSimulations (UWorld *World, float DeltaSeconds)
int32	GetActiveLidarCount () const
bool	HasActiveLidars () const
void	RegisterLidar (ARayCastSemanticLidar *Lidar)
void	StartLidarSimulations (UWorld *World, float DeltaSeconds)
void	UnregisterLidar (ARayCastSemanticLidar *Lidar)

Private Attributes
TArray< TWeakObjectPtr< ARayCastSemanticLidar > >	ActiveLidars
FGraphEventRef	LidarSimulationTask
TArray< TObjectPtr< ARayCastSemanticLidar > >	LidarsToSimulate
	LiDARs due this frame, snapshotted on the game thread for the simulation task.

Detailed Description

Subsystem responsible for simulating all ray-cast LiDARs of a world.

Registered LiDARs are simulated asynchronously via TaskGraph high-priority worker tasks while the Game Thread processes remaining sensors (cameras, etc.). FSensorManager::PostPhysTick calls StartLidarSimulations() at the beginning of the post-physics tick, and FinishLidarSimulations() after other sensors finish.

Definition at line 26 of file CarlaLidarSubsystem.h.

Member Function Documentation

Deinitialize()

void UCarlaLidarSubsystem::Deinitialize ( )

overridevirtual

Definition at line 23 of file CarlaLidarSubsystem.cpp.

References ActiveLidars, LidarSimulationTask, and LidarsToSimulate.

FinishLidarSimulations()

void UCarlaLidarSubsystem::FinishLidarSimulations	(	UWorld *	World,
		float	DeltaSeconds
	)

Definition at line 115 of file CarlaLidarSubsystem.cpp.

References FinishLidarSimulations(), IsValid(), LidarSimulationTask, and LidarsToSimulate.

Referenced by FinishLidarSimulations(), and FSensorManager::PostPhysTick().

GetActiveLidarCount()

int32 UCarlaLidarSubsystem::GetActiveLidarCount ( ) const

inline

Definition at line 43 of file CarlaLidarSubsystem.h.

HasActiveLidars()

bool UCarlaLidarSubsystem::HasActiveLidars ( ) const

inline

Definition at line 38 of file CarlaLidarSubsystem.h.

Referenced by StartLidarSimulations().

RegisterLidar()

void UCarlaLidarSubsystem::RegisterLidar

(

ARayCastSemanticLidar *

Lidar

)

Definition at line 35 of file CarlaLidarSubsystem.cpp.

References ActiveLidars, FSensorManager::DeRegisterSensor(), UCarlaStatics::GetCurrentEpisode(), and UCarlaEpisode::GetSensorManager().

StartLidarSimulations()

void UCarlaLidarSubsystem::StartLidarSimulations	(	UWorld *	World,
		float	DeltaSeconds
	)

Definition at line 56 of file CarlaLidarSubsystem.cpp.

References ActiveLidars, CVarLidarBatch(), HasActiveLidars(), ASensor::IsReadyToTick(), LidarSimulationTask, LidarsToSimulate, and StartLidarSimulations().

Referenced by FSensorManager::PostPhysTick(), and StartLidarSimulations().

UnregisterLidar()

void UCarlaLidarSubsystem::UnregisterLidar

(

ARayCastSemanticLidar *

Lidar

)

Definition at line 50 of file CarlaLidarSubsystem.cpp.

References ActiveLidars.

Member Data Documentation

ActiveLidars

TArray<TWeakObjectPtr<ARayCastSemanticLidar> > UCarlaLidarSubsystem::ActiveLidars

private

Definition at line 54 of file CarlaLidarSubsystem.h.

Referenced by Deinitialize(), RegisterLidar(), StartLidarSimulations(), and UnregisterLidar().

LidarSimulationTask

FGraphEventRef UCarlaLidarSubsystem::LidarSimulationTask

private

Definition at line 59 of file CarlaLidarSubsystem.h.

Referenced by Deinitialize(), FinishLidarSimulations(), and StartLidarSimulations().

LidarsToSimulate

TArray<TObjectPtr<ARayCastSemanticLidar> > UCarlaLidarSubsystem::LidarsToSimulate

private

LiDARs due this frame, snapshotted on the game thread for the simulation task.

Definition at line 57 of file CarlaLidarSubsystem.h.

Referenced by Deinitialize(), FinishLidarSimulations(), and StartLidarSimulations().

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

• CarlaLidarSubsystem.h
• CarlaLidarSubsystem.cpp