#include <ServerSideSensor.h>

Inheritance diagram for carla::client::ServerSideSensor:

Collaboration diagram for carla::client::ServerSideSensor:

Public Member Functions
bool	Destroy () override
	Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed. More...

void	DisableForROS ()
	Disable this sensor for ROS2 publishing. More...

void	EnableForROS ()
	Enable this sensor for ROS2 publishing. More...

bool	IsEnabledForROS ()
	Return if the sensor is publishing for ROS2. More...

bool	IsListening () const override
	Return whether this Sensor instance is currently listening to the associated sensor in the simulator. More...

bool	IsListeningGBuffer (uint32_t id) const

void	Listen (CallbackFunctionType callback) override
	Register a callback to be executed each time a new measurement is received. More...

void	ListenToGBuffer (uint32_t GBufferId, CallbackFunctionType callback)
	Listen fr. More...

void	Stop () override
	Stop listening for new measurements. More...

void	StopGBuffer (uint32_t GBufferId)
	Stop listening for a specific gbuffer stream. More...

	~ServerSideSensor ()

Public Member Functions inherited from carla::client::Actor
	Actor (ActorInitializer init)

void	AddAngularImpulse (const geom::Vector3D &vector)
	Add angular impulse to the actor. More...

void	AddForce (const geom::Vector3D &force)
	Add force to the actor at its center of mass. More...

void	AddForce (const geom::Vector3D &force, const geom::Vector3D &location)
	Add force to the actor at certain location. More...

void	AddImpulse (const geom::Vector3D &vector)
	Add impulse to the actor at its center of mass. More...

void	AddImpulse (const geom::Vector3D &impulse, const geom::Vector3D &location)
	Add impulse to the actor at certain location. More...

void	AddTorque (const geom::Vector3D &vector)
	Add a torque to the actor. More...

void	DisableConstantVelocity ()
	Disable the constant velocity mode. More...

void	EnableConstantVelocity (const geom::Vector3D &vector)
	Enable a constant velocity mode. More...

geom::Vector3D	GetAcceleration () const
	Return the current 3D acceleration of the actor. More...

rpc::ActorState	GetActorState () const

geom::Vector3D	GetAngularVelocity () const
	Return the current 3D angular velocity of the actor. More...

geom::Location	GetLocation () const
	Return the current location of the actor. More...

geom::Transform	GetTransform () const
	Return the current transform of the actor. More...

geom::Vector3D	GetVelocity () const
	Return the current 3D velocity of the actor. More...

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

const auto &	Serialize () const

void	SetActorDead ()
	Set actor as dead and starts his life span. More...

void	SetCollisions (bool enabled=true)
	Enable or disable collisions on this actor. More...

void	SetEnableGravity (bool enabled=true)
	Enable or disable gravity on this actor. More...

void	SetLocation (const geom::Location &location)
	Teleport the actor to location. More...

void	SetSimulatePhysics (bool enabled=true)
	Enable or disable physics simulation on this actor. More...

void	SetTargetAngularVelocity (const geom::Vector3D &vector)
	Set the angular velocity of the actor before applying physics. More...

void	SetTargetVelocity (const geom::Vector3D &vector)
	Set the actor velocity before applying physics. More...

void	SetTransform (const geom::Transform &transform)
	Teleport and rotate the actor to transform. More...

virtual	~Actor ()=default

Public Member Functions inherited from carla::client::detail::ActorState
const std::vector< ActorAttributeValue > &	GetAttributes () const

const std::string &	GetDisplayId () const

ActorId	GetId () const

SharedPtr< Actor >	GetParent () const

ActorId	GetParentId () const

const std::vector< uint8_t > &	GetSemanticTags () const

const std::string &	GetTypeId () const

World	GetWorld () const

Private Attributes
std::bitset< 16 >	listening_mask

Additional Inherited Members
Public Types inherited from carla::client::Sensor
using	CallbackFunctionType = std::function< void(SharedPtr< sensor::SensorData >)>

Protected Member Functions inherited from carla::client::detail::ActorState
	ActorState (rpc::Actor description, EpisodeProxy episode)

const rpc::Actor &	GetActorDescription () const

const geom::BoundingBox &	GetBoundingBox () const

EpisodeProxy &	GetEpisode ()

const EpisodeProxy &	GetEpisode () const

Detailed Description

Definition at line 15 of file ServerSideSensor.h.

Constructor & Destructor Documentation

◆ ~ServerSideSensor()

carla::client::ServerSideSensor::~ServerSideSensor ( )

Definition at line 19 of file ServerSideSensor.cpp.

References GBufferTextureCount, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::client::Actor::IsAlive(), IsListening(), IsValid(), listening_mask, carla::log_error(), carla::log_warning(), Stop(), and StopGBuffer().

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Member Function Documentation

◆ Destroy()

bool carla::client::ServerSideSensor::Destroy ( )

overridevirtual

Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed.

Note: It has no effect if the Actor was already successfully destroyed.

Warning: This function blocks until the destruction operation is completed by the simulator.

Additionally stop listening.

Reimplemented from carla::client::Actor.

Definition at line 95 of file ServerSideSensor.cpp.

References carla::client::Actor::Destroy(), GBufferTextureCount, carla::client::detail::ActorState::GetDisplayId(), IsListening(), listening_mask, carla::log_debug(), Stop(), and StopGBuffer().

Referenced by IsListeningGBuffer().

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◆ DisableForROS()

void carla::client::ServerSideSensor::DisableForROS ( )

Disable this sensor for ROS2 publishing.

Definition at line 87 of file ServerSideSensor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by IsListeningGBuffer().

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◆ EnableForROS()

void carla::client::ServerSideSensor::EnableForROS ( )

Enable this sensor for ROS2 publishing.

Definition at line 83 of file ServerSideSensor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by IsListeningGBuffer().

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◆ IsEnabledForROS()

bool carla::client::ServerSideSensor::IsEnabledForROS ( )

Return if the sensor is publishing for ROS2.

Definition at line 91 of file ServerSideSensor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by IsListeningGBuffer().

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◆ IsListening()

bool carla::client::ServerSideSensor::IsListening ( ) const

inlineoverridevirtual

Return whether this Sensor instance is currently listening to the associated sensor in the simulator.

Implements carla::client::Sensor.

Definition at line 36 of file ServerSideSensor.h.

References listening_mask, ListenToGBuffer(), and StopGBuffer().

Referenced by Destroy(), Stop(), and ~ServerSideSensor().

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◆ IsListeningGBuffer()

bool carla::client::ServerSideSensor::IsListeningGBuffer ( uint32_t id ) const

inline

Definition at line 46 of file ServerSideSensor.h.

References Destroy(), DisableForROS(), EnableForROS(), IsEnabledForROS(), and listening_mask.

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◆ Listen()

void carla::client::ServerSideSensor::Listen ( CallbackFunctionType callback )

overridevirtual

Register a callback to be executed each time a new measurement is received.

Warning: Calling this function on a sensor that is already listening steals the data stream from the previously set callback. Note that several instances of Sensor (even in different processes) may point to the same sensor in the simulator.

Implements carla::client::Sensor.

Definition at line 39 of file ServerSideSensor.cpp.

References carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), listening_mask, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), and carla::log_debug().

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