ObstacleDetectionSensor.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/Sensor/Sensor.h"
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
#include "ObstacleDetectionSensor.generated.h"
 
class UCarlaEpisode;
 
/// A sensor to register collisions.
UCLASS()
class CARLA_API AObstacleDetectionSensor : public ASensor
{
  GENERATED_BODY()
 
public:
 
  static FActorDefinition GetSensorDefinition();
 
  AObstacleDetectionSensor(const FObjectInitializer &ObjectInitializer);
 
  void Set(const FActorDescription &Description) override;
 
  virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
 
private:
 
  UFUNCTION()
  void OnObstacleDetectionEvent(
      AActor *Actor,
      AActor *OtherActor,
      float Distance,
      const FHitResult &Hit);
 
private:
 
  float Distance;
 
  float HitRadius;
 
  bool bOnlyDynamics = false;
 
  bool bDebugLineTrace = false;
};