AutowareGnssSensor.h

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// 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 "Carla/Autoware/Data/MgrsDataAsset.h"
 
#include <util/disable-ue4-macros.h>
#include <carla/geom/GeoProjection.h>
#include <util/enable-ue4-macros.h>
 
#include "AutowareGnssSensor.generated.h"
 
/// Autoware GNSS sensor ("sensor.other.autoware_gnss"): streams GeoLocation
/// to the client like the regular GNSS sensor, but on the ROS2 side publishes
/// the sensor pose in the map frame (world transform + MGRS offset) as
/// <base>/pose and <base>/pose_with_covariance. Ported from
/// tier4/autoware-support.
UCLASS()
class CARLA_API AAutowareGnssSensor : public ASensor
{
  GENERATED_BODY()
 
public:
 
  AAutowareGnssSensor(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;
 
  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;
 
  UFUNCTION(BlueprintCallable)
  bool IsNoiseErrorEnabled() const;
 
  UFUNCTION(BlueprintCallable)
  void LoadMgrsData();
 
protected:
 
  virtual void BeginPlay() override;
 
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
 
  UFUNCTION(BlueprintCallable)
  void SetNoiseErrorActive(const bool bEnabled);
 
private:
 
  UPROPERTY()
  TObjectPtr<UMgrsDataAsset> MgrsDataAsset = nullptr;
 
  carla::geom::GeoProjection CurrentGeoProjection;
 
  bool bApplyNoiseError = false;
 
  float LatitudeDeviation;
  float LongitudeDeviation;
  float AltitudeDeviation;
 
  float LatitudeBias;
  float LongitudeBias;
  float AltitudeBias;
 
  double LatitudeValue;
  double LongitudeValue;
  double AltitudeValue;
};