SensorData.h

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// Copyright (c) 2017 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/Memory.h"
#include "carla/NonCopyable.h"
#include "carla/sensor/RawData.h"
 
/// @todo This shouldn't be exposed in this namespace.
#include "carla/client/detail/EpisodeProxy.h"
 
namespace carla {
namespace sensor {
 
  /// Base class for all the objects containing data generated by a sensor.
  class SensorData
    : public EnableSharedFromThis<SensorData>,
      private NonCopyable {
  protected:
 
    SensorData(size_t frame, double timestamp, const rpc::Transform &sensor_transform)
      : _frame(frame),
        _timestamp(timestamp),
        _sensor_transform(sensor_transform) {}
 
    explicit SensorData(const RawData &data)
      : SensorData(data.GetFrame(), data.GetTimestamp(), data.GetSensorTransform()) {}
 
  public:
 
    virtual ~SensorData() = default;
 
    /// Frame count when the data was generated.
    size_t GetFrame() const {
      return _frame;
    }
 
    /// Simulation-time when the data was generated.
    double GetTimestamp() const {
      return _timestamp;
    }
 
    /// Sensor's transform when the data was generated.
    const rpc::Transform &GetSensorTransform() const {
      return _sensor_transform;
    }
 
  protected:
 
    const auto &GetEpisode() const {
      return _episode;
    }
 
  private:
 
    /// @todo This shouldn't be exposed in this namespace.
    friend class client::detail::Simulator;
    client::detail::WeakEpisodeProxy _episode;
 
    const size_t _frame;
 
    const double _timestamp;
 
    const rpc::Transform _sensor_transform;
  };
 
} // namespace sensor
} // namespace carla