WorldObserver.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/DataStream.h"
 
class UCarlaEpisode;
 
/// Serializes and sends all the actors in the current UCarlaEpisode.
class FWorldObserver
{
public:
 
  /// Prevent this sensor to be spawned by users.
  using not_spawnable = void;
 
  /// Replace the Stream associated with this sensor.
  void SetStream(FDataMultiStream InStream)
  {
    Stream = std::move(InStream);
  }
 
  /// Return the token that allows subscribing to this sensor's stream.
  auto GetToken() const
  {
    return Stream.GetToken();
  }
 
  /// Send a message to every connected client with the info about the given @a
  /// Episode.
  void BroadcastTick(
    const UCarlaEpisode &Episode,
    float DeltaSeconds,
    bool MapChange,
    bool PendingLightUpdate);
 
  /// Dummy. Required for compatibility with other sensors only.
  FTransform GetActorTransform() const
  {
    return {};
  }
 
private:
 
  FDataMultiStream Stream;
};