Radar.h

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// Copyright (c) 2019 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 <compiler/disable-ue4-macros.h>
#include <carla/sensor/data/RadarData.h>
#include <compiler/enable-ue4-macros.h>
 
#include "Radar.generated.h"
 
/// A ray-cast based Radar sensor.
UCLASS()
class CARLA_API ARadar : public ASensor
{
  GENERATED_BODY()
 
  using FRadarData = carla::sensor::data::RadarData;
 
public:
 
  static FActorDefinition GetSensorDefinition();
 
  ARadar(const FObjectInitializer &ObjectInitializer);
 
  void Set(const FActorDescription &Description) override;
 
  UFUNCTION(BlueprintCallable, Category = "Radar")
  void SetHorizontalFOV(float NewHorizontalFOV);
 
  UFUNCTION(BlueprintCallable, Category = "Radar")
  void SetVerticalFOV(float NewVerticalFOV);
 
  UFUNCTION(BlueprintCallable, Category = "Radar")
  void SetRange(float NewRange);
 
  UFUNCTION(BlueprintCallable, Category = "Radar")
  void SetPointsPerSecond(int NewPointsPerSecond);
 
protected:
 
  void BeginPlay() override;
 
  // virtual void PrePhysTick(float DeltaTime) override;
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime) override;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="Detection")
  float Range;
 
  UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category="Detection")
  float HorizontalFOV;
 
  UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category="Detection")
  float VerticalFOV;
 
  UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category="Detection")
  int PointsPerSecond;
 
private:
 
  void CalculateCurrentVelocity(const float DeltaTime);
 
  void SendLineTraces(float DeltaTime);
 
  float CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation);
 
  FRadarData RadarData;
 
  FCollisionQueryParams TraceParams;
 
  FVector CurrentVelocity;
 
  /// Used to compute the velocity of the radar
  FVector PrevLocation;
 
  struct RayData {
    float Radius;
    float Angle;
    bool Hitted;
    float RelativeVelocity;
    FVector2D AzimuthAndElevation;
    float Distance;
  };
 
  std::vector<RayData> Rays;
};