Documentation and variable renaming for obstacle sensor

CHANGELOG.md

@@ -10,6 +10,7 @@
   * Added support for spawning and controlling walkers (pedestrians)
   * Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers
   * Remove crash reporter from packaged build
+  * Added sensor for detecting obstacles
   * Added a few methods to manage an actor:
     - set_velocity: for setting the linear velocity
     - set_angular_velocity: for setting the angular velocity

Docs/cameras_and_sensors.md

@@ -46,6 +46,7 @@ This is the list of sensors currently available
   * [sensor.lidar.ray_cast](#sensorlidarray_cast)
   * [sensor.other.collision](#sensorothercollision)
   * [sensor.other.lane_detector](#sensorotherlane_detector)
+  * [sensor.other.obstacle](#sensorotherobstacle)
 
 sensor.camera.rgb
 -----------------
@@ -305,3 +306,19 @@ objects.
 | `longitude`            | double | Longitude position of the actor |
 | `altitude`             | double | Altitude of the actor |
 
+sensor.other.obstacle
+---------------------
+
+This sensor, when attached to an actor, reports if there is obstacles ahead.
+
+This sensor produces
+[`carla.ObstacleDetectionSensorEvent`](python_api.md#carlaobstacledetectionsensoreventdata)
+objects.
+
+| Sensor data attribute  | Type        | Description |
+| ---------------------- | ----------- | ----------- |
+| `distance`             | float       | Distance to throw the trace to |
+| `hitradius`            | float       | Radius of the trace |
+| `heightvar`            | float       | Modified height from which the trace will start and end |
+| `onlydynamics`         | bool        | Flag to indicate that only dynamics will be traced |
+| `debuglinetrace`       | bool        | Flag to indicate whether the linetrace will be shown or not |

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.cpp

@@ -45,11 +45,11 @@ FActorDefinition AObstacleDetectionSensor::GetSensorDefinition()
   heightvar.RecommendedValues = { TEXT("100.0") };
   heightvar.bRestrictToRecommended = false;
   // Only Dynamics
-  FActorVariation onlyvehicles;
-  onlyvehicles.Id = TEXT("onlyvehicles");
-  onlyvehicles.Type = EActorAttributeType::Bool;
-  onlyvehicles.RecommendedValues = { TEXT("false") };
-  onlyvehicles.bRestrictToRecommended = false;
+  FActorVariation onlydynamics;
+  onlydynamics.Id = TEXT("onlydynamics");
+  onlydynamics.Type = EActorAttributeType::Bool;
+  onlydynamics.RecommendedValues = { TEXT("false") };
+  onlydynamics.bRestrictToRecommended = false;
   // Debug Line Trace
   FActorVariation debuglinetrace;
   debuglinetrace.Id = TEXT("debuglinetrace");
@@ -61,7 +61,7 @@ FActorDefinition AObstacleDetectionSensor::GetSensorDefinition()
     distance,
     hitradius,
     heightvar,
-    onlyvehicles,
+    onlydynamics,
     debuglinetrace
   });
   return SensorDefinition;
@@ -87,10 +87,10 @@ void AObstacleDetectionSensor::Set(const FActorDescription &Description)
       "heightvar",
       Description.Variations,
       HeightVar);
-  bOnlyVehicles = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
-      "onlyvehicles",
+  bOnlyDynamics = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
+      "onlydynamics",
       Description.Variations,
-      bOnlyVehicles);
+      bOnlyDynamics);
   bDebugLineTrace = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
       "debuglinetrace",
       Description.Variations,
@@ -159,10 +159,13 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
   TraceParams.AddIgnoredActor(Super::GetOwner());
 
   bool isHitReturned;
-  if (bOnlyVehicles)
+  // Choosing a type of sweep is a workaround until everything get properly
+  // organized under correct collision channels and object types.
+  if (bOnlyDynamics)
   {
-    // If we go only for vehicles, we check the object type ECC_Vehicle
-    FCollisionObjectQueryParams TraceChannel = FCollisionObjectQueryParams(ECC_Vehicle);
+    // If we go only for dynamics, we check the object type ECC_Vehicle
+    FCollisionObjectQueryParams TraceChannel = FCollisionObjectQueryParams(
+        FCollisionObjectQueryParams::AllDynamicObjects);
     isHitReturned = PlayerController->GetWorld()->SweepSingleByObjectType(
         HitOut,
         Start,

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ObstacleDetectionSensor.h

@@ -25,7 +25,7 @@ class CARLA_API AObstacleDetectionSensor : public ASensor
 
   float HeightVar;
 
-  bool bOnlyVehicles = false;
+  bool bOnlyDynamics = false;
 
   bool bDebugLineTrace = false;