rpc/Actor.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/Debug.h"
#include "carla/geom/BoundingBox.h"
#include "carla/rpc/ActorDescription.h"
#include "carla/rpc/ActorId.h"
#include "carla/streaming/Token.h"
 
#include <cstring>
 
namespace carla {
namespace rpc {
 
  class Actor {
  public:
 
    Actor() = default;
 
    ActorId id = 0u;
 
    ActorId parent_id = 0u;
 
    ActorDescription description;
 
    geom::BoundingBox bounding_box;
 
    std::vector<uint8_t> semantic_tags;
 
    /// @todo This is only used by sensors actually.
    /// @name Sensor functionality
    /// @{
 
    std::vector<unsigned char> stream_token;
 
    bool HasAStream() const {
      return stream_token.size() == sizeof(streaming::Token::data);
    }
 
    streaming::Token GetStreamToken() const {
      DEBUG_ASSERT(HasAStream());
      streaming::Token token;
      std::memcpy(&token.data[0u], stream_token.data(), stream_token.size());
      return token;
    }
 
    /// @}
 
    MSGPACK_DEFINE_ARRAY(id, parent_id, description, bounding_box, semantic_tags, stream_token);
  };
 
} // namespace rpc
} // namespace carla