#include <ServerSideSensor.h>

类 carla::client::ServerSideSensor 继承关系图:

carla::client::ServerSideSensor 的协作图:

Public 成员函数
bool	Destroy () override

void	DisableForROS ()
	Disable this sensor for ROS2 publishing

void	EnableForROS ()
	Enable this sensor for ROS2 publishing

bool	IsEnabledForROS ()
	Return if the sensor is publishing for ROS2

bool	IsListening () const override
	Return whether this Sensor instance is currently listening to the associated sensor in the simulator.

bool	IsListeningGBuffer (uint32_t id) const

void	Listen (CallbackFunctionType callback) override
	Register a callback to be executed each time a new measurement is received.

void	ListenToGBuffer (uint32_t GBufferId, CallbackFunctionType callback)
	Listen fr

void	Send (std::string message)
	Send data via this sensor

void	Stop () override
	Stop listening for new measurements.

void	StopGBuffer (uint32_t GBufferId)
	Stop listening for a specific gbuffer stream.

	~ServerSideSensor ()

Public 成员函数继承自 carla::client::Sensor
	Actor (ActorInitializer init)

Public 成员函数继承自 carla::client::Actor
	Actor (ActorInitializer init)

void	AddAngularImpulse (const geom::Vector3D &vector)
	Add angular impulse to the actor.

void	AddForce (const geom::Vector3D &force)
	Add force to the actor at its center of mass.

void	AddForce (const geom::Vector3D &force, const geom::Vector3D &location)
	Add force to the actor at certain location.

void	AddImpulse (const geom::Vector3D &impulse, const geom::Vector3D &location)
	Add impulse to the actor at certain location.

void	AddImpulse (const geom::Vector3D &vector)
	Add impulse to the actor at its center of mass.

void	AddTorque (const geom::Vector3D &vector)
	Add a torque to the actor.

void	DisableConstantVelocity ()
	Disable the constant velocity mode

void	EnableConstantVelocity (const geom::Vector3D &vector)
	Enable a constant velocity mode

geom::Vector3D	GetAcceleration () const
	Return the current 3D acceleration of the actor.

rpc::ActorState	GetActorState () const

geom::Vector3D	GetAngularVelocity () const
	Return the current 3D angular velocity of the actor.

std::vector< std::string >	GetBoneNames () const

std::vector< geom::Transform >	GetBoneRelativeTransforms () const

std::vector< geom::Transform >	GetBoneWorldTransforms () const

std::vector< std::string >	GetComponentNames () const

geom::Transform	GetComponentRelativeTransform (const std::string componentName) const

geom::Transform	GetComponentWorldTransform (const std::string componentName) const

geom::Location	GetLocation () const
	Return the current location of the actor.

std::vector< std::string >	GetSocketNames () const

std::vector< geom::Transform >	GetSocketRelativeTransforms () const

std::vector< geom::Transform >	GetSocketWorldTransforms () const

geom::Transform	GetTransform () const
	Return the current transform of the actor.

geom::Vector3D	GetVelocity () const
	Return the current 3D velocity of the actor.

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

const auto &	Serialize () const

void	SetActorDead ()
	Set actor as dead and starts his life span

void	SetCollisions (bool enabled=true)
	Enable or disable collisions on this actor.

void	SetEnableGravity (bool enabled=true)
	Enable or disable gravity on this actor.

void	SetLocation (const geom::Location &location)
	Teleport the actor to location.

void	SetSimulatePhysics (bool enabled=true)
	Enable or disable physics simulation on this actor.

void	SetTargetAngularVelocity (const geom::Vector3D &vector)
	Set the angular velocity of the actor before applying physics.

void	SetTargetVelocity (const geom::Vector3D &vector)
	Set the actor velocity before applying physics.

void	SetTransform (const geom::Transform &transform)
	Teleport and rotate the actor to transform.

virtual	~Actor ()=default

Public 成员函数继承自 carla::client::detail::ActorState
const std::vector< ActorAttributeValue > &	GetAttributes () const

const std::string &	GetDisplayId () const

ActorId	GetId () const

SharedPtr< Actor >	GetParent () const

ActorId	GetParentId () const

const std::vector< uint8_t > &	GetSemanticTags () const

const std::string &	GetTypeId () const

World	GetWorld () const

Private 属性
std::bitset< 16 >	listening_mask

额外继承的成员函数
Public 类型继承自 carla::client::Sensor
using	CallbackFunctionType = std::function<void(SharedPtr<sensor::SensorData>)>

Protected 成员函数继承自 carla::client::detail::ActorState
	ActorState (rpc::Actor description, EpisodeProxy episode)

const rpc::Actor &	GetActorDescription () const

const geom::BoundingBox &	GetBoundingBox () const

EpisodeProxy &	GetEpisode ()

const EpisodeProxy &	GetEpisode () const

详细描述

在文件 ServerSideSensor.h 第 15 行定义.

构造及析构函数说明

◆ ~ServerSideSensor()

carla::client::ServerSideSensor::~ServerSideSensor ( )

在文件 ServerSideSensor.cpp 第 19 行定义.

引用了 GBufferTextureCount, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::client::Actor::IsAlive(), IsListening(), IsValid(), listening_mask, carla::log_error(), carla::log_warning(), Stop() , 以及 StopGBuffer().

函数调用图:

成员函数说明

◆ Destroy()

bool carla::client::ServerSideSensor::Destroy ( )

overridevirtual

Additionally stop listening.

重载 carla::client::Actor .

在文件 ServerSideSensor.cpp 第 105 行定义.

引用了 GBufferTextureCount, carla::client::detail::ActorState::GetDisplayId(), IsListening(), listening_mask, carla::log_debug(), Stop() , 以及 StopGBuffer().

函数调用图:

◆ DisableForROS()

void carla::client::ServerSideSensor::DisableForROS ( )

Disable this sensor for ROS2 publishing

在文件 ServerSideSensor.cpp 第 97 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ EnableForROS()

void carla::client::ServerSideSensor::EnableForROS ( )

Enable this sensor for ROS2 publishing

在文件 ServerSideSensor.cpp 第 93 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ IsEnabledForROS()

bool carla::client::ServerSideSensor::IsEnabledForROS ( )

Return if the sensor is publishing for ROS2

在文件 ServerSideSensor.cpp 第 101 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ IsListening()

bool carla::client::ServerSideSensor::IsListening ( ) const

inlineoverridevirtual

Return whether this Sensor instance is currently listening to the associated sensor in the simulator.

实现了 carla::client::Sensor.

在文件 ServerSideSensor.h 第 36 行定义.

引用了 listening_mask.

被这些函数引用 Destroy(), Stop() , 以及 ~ServerSideSensor().

这是这个函数的调用关系图:

◆ IsListeningGBuffer()

bool carla::client::ServerSideSensor::IsListeningGBuffer ( uint32_t id ) const

inline

在文件 ServerSideSensor.h 第 46 行定义.

引用了 listening_mask.

◆ Listen()

void carla::client::ServerSideSensor::Listen ( CallbackFunctionType callback )

overridevirtual

Register a callback to be executed each time a new measurement is received.

警告: Calling this function on a sensor that is already listening steals the data stream from the previously set callback. Note that several instances of Sensor (even in different processes) may point to the same sensor in the simulator.

实现了 carla::client::Sensor.

在文件 ServerSideSensor.cpp 第 39 行定义.

引用了 carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), listening_mask, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock() , 以及 carla::log_debug().

函数调用图:

◆ ListenToGBuffer()

void carla::client::ServerSideSensor::ListenToGBuffer	(	uint32_t	GBufferId,
		CallbackFunctionType	callback )

Listen fr

在文件 ServerSideSensor.cpp 第 68 行定义.

引用了 GBufferTextureCount, carla::client::detail::ActorState::GetActorDescription(), carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::rpc::Actor::id, listening_mask, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug(), carla::log_warning() , 以及 RELEASE_ASSERT.

函数调用图:

◆ Send()

void carla::client::ServerSideSensor::Send ( std::string message )

Send data via this sensor

在文件 ServerSideSensor.cpp 第 58 行定义.

引用了 carla::client::detail::ActorState::GetActorDescription(), carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::rpc::Actor::id, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug() , 以及 carla::log_warning().

函数调用图:

◆ Stop()

void carla::client::ServerSideSensor::Stop ( )

overridevirtual

Stop listening for new measurements.

实现了 carla::client::Sensor.

在文件 ServerSideSensor.cpp 第 46 行定义.

引用了 carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), IsListening(), listening_mask, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug() , 以及 carla::log_warning().

被这些函数引用 Destroy() , 以及 ~ServerSideSensor().

函数调用图:

这是这个函数的调用关系图:

◆ StopGBuffer()

void carla::client::ServerSideSensor::StopGBuffer ( uint32_t GBufferId )

Stop listening for a specific gbuffer stream.

在文件 ServerSideSensor.cpp 第 81 行定义.

引用了 GBufferTextureCount, carla::client::detail::ActorState::GetActorDescription(), carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::rpc::Actor::id, listening_mask, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug(), carla::log_warning() , 以及 RELEASE_ASSERT.

被这些函数引用 Destroy() , 以及 ~ServerSideSensor().

函数调用图:

这是这个函数的调用关系图:

类成员变量说明

◆ listening_mask

std::bitset<16> carla::client::ServerSideSensor::listening_mask

private

在文件 ServerSideSensor.h 第 69 行定义.

被这些函数引用 Destroy(), IsListening(), IsListeningGBuffer(), Listen(), ListenToGBuffer(), Stop(), StopGBuffer() , 以及 ~ServerSideSensor().

该类的文档由以下文件生成:

Public 成员函数

Private 属性

额外继承的成员函数

详细描述

构造及析构函数说明

◆ ~ServerSideSensor()

成员函数说明

◆ Destroy()

◆ DisableForROS()

◆ EnableForROS()

◆ IsEnabledForROS()

◆ IsListening()

◆ IsListeningGBuffer()

◆ Listen()

◆ ListenToGBuffer()

◆ Send()

◆ Stop()

◆ StopGBuffer()

类成员变量说明

◆ listening_mask