ACollisionSensor类 参考

A sensor to register collisions. 更多...

#include <CollisionSensor.h>

类 ACollisionSensor 继承关系图:

ACollisionSensor 的协作图:

Public 成员函数
	ACollisionSensor (const FObjectInitializer &ObjectInitializer)
void	OnActorCollisionEvent (AActor *Actor, AActor *OtherActor, FVector NormalImpulse, const FHitResult &Hit)
void	OnCollisionEvent (AActor *Actor, AActor *OtherActor, FVector NormalImpulse, const FHitResult &Hit)
void	OnComponentCollisionEvent (UPrimitiveComponent *HitComp, AActor *OtherActor, UPrimitiveComponent *OtherComp, FVector NormalImpulse, const FHitResult &Hit)
virtual void	PrePhysTick (float DeltaSeconds) override
void	SetOwner (AActor *NewOwner) override
Public 成员函数 继承自 ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)
virtual void	BeginPlay ()
boost::optional< FActorAttribute >	GetAttribute (const FString Name)
const UCarlaEpisode &	GetEpisode () const
URandomEngine *	GetRandomEngine ()
int32	GetSeed () const
auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.
bool	IsStreamReady ()
FDataStream	MoveDataStream ()
virtual void	OnFirstClientConnected ()
virtual void	OnLastClientDisconnected ()
virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)
virtual void	Set (const FActorDescription &Description)
void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor.
void	SetEpisode (const UCarlaEpisode &InEpisode)
void	SetSeed (int32 InSeed)
void	Tick (const float DeltaTime) final

静态 Public 成员函数
static FActorDefinition	GetSensorDefinition ()

Private 属性
std::vector< std::tuple< uint64_t, AActor *, AActor * > >	CollisionRegistry
	Registry that saves all collisions.

额外继承的成员函数
Protected 成员函数 继承自 ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override
template<typename SensorT >
FAsyncDataStream	GetDataStream (const SensorT &Self)
	Return the FDataStream associated with this sensor.
void	PostActorCreated () override
Protected 属性 继承自 ASensor
bool	bIsActive = false
URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.
int32	Seed = 123456789
	Seed of the pseudo-random engine.

详细描述

A sensor to register collisions.

在文件 CollisionSensor.h 第 19 行定义.

构造及析构函数说明

ACollisionSensor()

ACollisionSensor::ACollisionSensor

(

const FObjectInitializer &

ObjectInitializer

)

在文件 CollisionSensor.cpp 第 20 行定义.

成员函数说明

GetSensorDefinition()

FActorDefinition ACollisionSensor::GetSensorDefinition ( )

static

在文件 CollisionSensor.cpp 第 26 行定义.

引用了 UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition().

函数调用图:

OnActorCollisionEvent()

void ACollisionSensor::OnActorCollisionEvent	(	AActor *	Actor,
		AActor *	OtherActor,
		FVector	NormalImpulse,
		const FHitResult &	Hit )

在文件 CollisionSensor.cpp 第 153 行定义.

引用了 OnCollisionEvent().

被这些函数引用 SetOwner().

函数调用图:

这是这个函数的调用关系图:

OnCollisionEvent()

void ACollisionSensor::OnCollisionEvent	(	AActor *	Actor,
		AActor *	OtherActor,
		FVector	NormalImpulse,
		const FHitResult &	Hit )

在文件 CollisionSensor.cpp 第 80 行定义.

引用了 Collision, CollisionRegistry, carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), ASensor::GetEpisode(), FCarlaEngine::GetFrameCounter(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), IsValid() , 以及 FAsyncDataStreamTmpl< T >::SerializeAndSend().

被这些函数引用 OnActorCollisionEvent() , 以及 OnComponentCollisionEvent().

函数调用图:

这是这个函数的调用关系图:

OnComponentCollisionEvent()

void ACollisionSensor::OnComponentCollisionEvent	(	UPrimitiveComponent *	HitComp,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		FVector	NormalImpulse,
		const FHitResult &	Hit )

在文件 CollisionSensor.cpp 第 162 行定义.

引用了 OnCollisionEvent().

被这些函数引用 SetOwner().

函数调用图:

这是这个函数的调用关系图:

PrePhysTick()

void ACollisionSensor::PrePhysTick ( float DeltaSeconds )

overridevirtual

重载 ASensor .

在文件 CollisionSensor.cpp 第 64 行定义.

引用了 CollisionRegistry , 以及 FCarlaEngine::GetFrameCounter().

函数调用图:

SetOwner()

void ACollisionSensor::SetOwner ( AActor * NewOwner )

override

待办事项

Deregister previous owner if there was one.

在文件 CollisionSensor.cpp 第 33 行定义.

引用了 IsValid(), OnActorCollisionEvent(), OnComponentCollisionEvent() , 以及 Vehicle.

函数调用图:

类成员变量说明

CollisionRegistry

std::vector<std::tuple<uint64_t, AActor*, AActor*> > ACollisionSensor::CollisionRegistry

private

Registry that saves all collisions.

Used to avoid sending the same collision more than once per frame, as the collision sensor uses the PhysX substepping tick. Helps with sensor usage and stream overload.

在文件 CollisionSensor.h 第 57 行定义.

被这些函数引用 OnCollisionEvent() , 以及 PrePhysTick().

---

该类的文档由以下文件生成:

• CollisionSensor.h
• CollisionSensor.cpp