Moved code from Sensor to ActorBlueprintFunctionLibrary

Added documentation
Minor code improvements

Docs/cameras_and_sensors.md

@@ -311,14 +311,19 @@ sensor.other.obstacle
 
 This sensor, when attached to an actor, reports if there is obstacles ahead.
 
+| Blueprint attribute  | Type  | Default | Description |
+| -------------------- | ----  | ------- | ----------- |
+| `distance`           | float | 5       | Distance to throw the trace to |
+| `hit_radius`         | float | 0.5     | Radius of the trace |
+| `only_dynamics`      | bool  | false   | If true, the trace will only look for dynamic objects |
+| `debug_linetrace`    | bool  | false   | If true, the trace will be visible |
+
 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 |
+| `actor`                | carla.Actor | Actor that detected the obstacle ("self" actor) |
+| `other_actor`          | carla.Actor | Actor detected as obstacle |
+| `distance    `         | float       | Distance from actor to other_actor |

Docs/python_api.md

@@ -166,6 +166,12 @@
 - `longitude`
 - `altitude`
 
+## `carla.ObstacleDetectionSensorEvent(carla.SensorData)`
+
+- `actor`
+- `other_actor`
+- `distance`
+
 ## `carla.VehicleControl`
 
 - `throttle`

LibCarla/source/carla/sensor/data/ObstacleDetectionEvent.h

@@ -8,10 +8,10 @@
 
 #include "carla/Debug.h"
 #include "carla/client/detail/ActorVariant.h"
-#include "carla/geom/Vector3D.h"
 #include "carla/sensor/SensorData.h"
 #include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
 
+
 namespace carla {
 namespace sensor {
 namespace data {
@@ -27,9 +27,10 @@ namespace data {
 
     explicit ObstacleDetectionEvent(const RawData &data)
       : Super(data),
-        _self_actor(Serializer::DeserializeRawData(data).self_actor),
-        _other_actor(Serializer::DeserializeRawData(data).other_actor),
-        _distance(Serializer::DeserializeRawData(data).distance) {}
+        _deserialized_data(Serializer::DeserializeRawData(data)),
+        _self_actor(_deserialized_data.self_actor),
+        _other_actor(_deserialized_data.other_actor),
+        _distance(_deserialized_data.distance) {}
 
   public:
 
@@ -50,11 +51,14 @@ namespace data {
 
   private:
 
+    Serializer::Data _deserialized_data;
+
     client::detail::ActorVariant _self_actor;
 
     client::detail::ActorVariant _other_actor;
 
     float _distance;
+
   };
 
 } // namespace data

LibCarla/source/carla/sensor/s11n/ObstacleDetectionEventSerializer.h

@@ -10,7 +10,6 @@
 #include "carla/Debug.h"
 #include "carla/Memory.h"
 #include "carla/rpc/Actor.h"
-#include "carla/geom/Vector3D.h"
 #include "carla/sensor/RawData.h"
 
 namespace carla {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp

@@ -441,6 +441,46 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinitions(
   FillActorDefinitionArray(ParameterArray, Definitions, &MakePedestrianDefinition);
 }
 
+void UActorBlueprintFunctionLibrary::MakeObstacleDetectorDefinitions(
+    const FString &Type,
+    const FString &Id,
+    FActorDefinition &Definition)
+{
+  Definition = MakeGenericSensorDefinition(TEXT("other"), TEXT("obstacle"));
+
+  // Distance.
+  FActorVariation distance;
+  distance.Id = TEXT("distance");
+  distance.Type = EActorAttributeType::Float;
+  distance.RecommendedValues = { TEXT("5.0") };
+  distance.bRestrictToRecommended = false;
+  // HitRadius.
+  FActorVariation hitradius;
+  hitradius.Id = TEXT("hit_radius");
+  hitradius.Type = EActorAttributeType::Float;
+  hitradius.RecommendedValues = { TEXT("0.5") };
+  hitradius.bRestrictToRecommended = false;
+  // Only Dynamics
+  FActorVariation onlydynamics;
+  onlydynamics.Id = TEXT("only_dynamics");
+  onlydynamics.Type = EActorAttributeType::Bool;
+  onlydynamics.RecommendedValues = { TEXT("false") };
+  onlydynamics.bRestrictToRecommended = false;
+  // Debug Line Trace
+  FActorVariation debuglinetrace;
+  debuglinetrace.Id = TEXT("debug_linetrace");
+  debuglinetrace.Type = EActorAttributeType::Bool;
+  debuglinetrace.RecommendedValues = { TEXT("false") };
+  debuglinetrace.bRestrictToRecommended = false;
+
+  Definition.Variations.Append({
+    distance,
+    hitradius,
+    onlydynamics,
+    debuglinetrace
+  });
+
+}
 /// ============================================================================
 /// -- Helpers to retrieve attribute values ------------------------------------
 /// ============================================================================

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.h

@@ -91,6 +91,12 @@ public:
       const TArray<FPedestrianParameters> &ParameterArray,
       TArray<FActorDefinition> &Definitions);
 
+  UFUNCTION()
+  static void MakeObstacleDetectorDefinitions(
+    const FString &Type,
+    const FString &Id,
+    FActorDefinition &Definition);
+
   /// @}
   /// ==========================================================================
   /// @name Helpers to retrieve attribute values

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

@@ -10,7 +10,7 @@
 #include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 #include "Carla/Actor/ActorRegistry.h"
 #include "Carla/Game/CarlaEpisode.h"
-#include "Carla/Game/CarlaStatics.h"
+#include "Carla/Game/CarlaGameInstance.h"
 #include "Carla/Game/TheNewCarlaGameModeBase.h"
 
 AObstacleDetectionSensor::AObstacleDetectionSensor(const FObjectInitializer &ObjectInitializer)
@@ -21,78 +21,29 @@ AObstacleDetectionSensor::AObstacleDetectionSensor(const FObjectInitializer &Obj
 
 FActorDefinition AObstacleDetectionSensor::GetSensorDefinition()
 {
-  auto SensorDefinition = FActorDefinition();
-  FillIdAndTags(SensorDefinition, TEXT("sensor"), TEXT("other"), TEXT("obstacle"));
-  AddRecommendedValuesForSensorRoleNames(SensorDefinition);
-  AddVariationsForSensor(SensorDefinition);
-
-  // Distance.
-  FActorVariation distance;
-  distance.Id = TEXT("distance");
-  distance.Type = EActorAttributeType::Float;
-  distance.RecommendedValues = { TEXT("500.0") };
-  distance.bRestrictToRecommended = false;
-  // HitRadius.
-  FActorVariation hitradius;
-  hitradius.Id = TEXT("hitradius");
-  hitradius.Type = EActorAttributeType::Float;
-  hitradius.RecommendedValues = { TEXT("50.0") };
-  hitradius.bRestrictToRecommended = false;
-  // Height Variation
-  FActorVariation heightvar;
-  heightvar.Id = TEXT("heightvar");
-  heightvar.Type = EActorAttributeType::Float;
-  heightvar.RecommendedValues = { TEXT("100.0") };
-  heightvar.bRestrictToRecommended = false;
-  // Only Dynamics
-  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");
-  debuglinetrace.Type = EActorAttributeType::Bool;
-  debuglinetrace.RecommendedValues = { TEXT("false") };
-  debuglinetrace.bRestrictToRecommended = false;
-
-  SensorDefinition.Variations.Append({
-    distance,
-    hitradius,
-    heightvar,
-    onlydynamics,
-    debuglinetrace
-  });
+  FActorDefinition SensorDefinition = FActorDefinition();
+  UActorBlueprintFunctionLibrary::MakeObstacleDetectorDefinitions(TEXT("other"), TEXT("obstacle"), SensorDefinition);
   return SensorDefinition;
 }
 
-void AObstacleDetectionSensor::SetOwner(AActor *NewOwner)
-{
-  Super::SetOwner(NewOwner);
-}
-
 void AObstacleDetectionSensor::Set(const FActorDescription &Description)
 {
+  //Multiplying numbers for 100 in order to convert from meters to centimeters
   Super::Set(Description);
   Distance = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat(
       "distance",
       Description.Variations,
-      Distance);
+      Distance) * 100;
   HitRadius = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat(
-      "hitradius",
+      "hit_radius",
       Description.Variations,
-      HitRadius);
-  HeightVar = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat(
-      "heightvar",
-      Description.Variations,
-      HeightVar);
+      HitRadius) * 100;
   bOnlyDynamics = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
-      "onlydynamics",
+      "only_dynamics",
       Description.Variations,
       bOnlyDynamics);
   bDebugLineTrace = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(
-      "debuglinetrace",
+      "debug_linetrace",
       Description.Variations,
       bDebugLineTrace);
 
@@ -102,38 +53,36 @@ void AObstacleDetectionSensor::BeginPlay()
 {
   Super::BeginPlay();
 
-  Episode = UCarlaStatics::GetCurrentEpisode(GetWorld());
-  if (Episode == nullptr)
+  auto *GameMode = Cast<ATheNewCarlaGameModeBase>(GetWorld()->GetAuthGameMode());
+
+  if (GameMode == nullptr)
   {
-    UE_LOG(LogCarla, Error, TEXT("AObstacleDetectionSensor: cannot find a valid CarlaEpisode"));
+    UE_LOG(LogCarla, Error, TEXT("AObstacleDetectionSensor: Game mode not compatible with this sensor"));
     return;
   }
+  Episode = &GameMode->GetCarlaEpisode();
 }
 
 void AObstacleDetectionSensor::Tick(float DeltaSeconds)
 {
   Super::Tick(DeltaSeconds);
 
-  // The vectors should get raised a little bit to avoid hitting the ground.
-  // Temp fix until the collision channels get fixed
-  const FVector &Start = Super::GetOwner()->GetActorLocation() + FVector(0, 0, HeightVar);
-  const FVector &End = Start + (Super::GetOwner()->GetActorForwardVector() * Distance);
+  const FVector &Start = GetActorLocation();
+  const FVector &End = Start + (GetActorForwardVector() * Distance);
+  UWorld* currentWorld = GetWorld();
 
   // Struct in which the result of the scan will be saved
   FHitResult HitOut = FHitResult();
 
-  // Get World Source
-  TObjectIterator<APlayerController> PlayerController;
-
   // Initialization of Query Parameters
-  FCollisionQueryParams TraceParams(FName(TEXT("ObstacleDetection Trace")), true, Super::GetOwner());
+  FCollisionQueryParams TraceParams(FName(TEXT("ObstacleDetection Trace")), true, this);
 
   // If debug mode enabled, we create a tag that will make the sweep be
   // displayed.
   if (bDebugLineTrace)
   {
     const FName TraceTag("ObstacleDebugTrace");
-    PlayerController->GetWorld()->DebugDrawTraceTag = TraceTag;
+    currentWorld->DebugDrawTraceTag = TraceTag;
     TraceParams.TraceTag = TraceTag;
   }
 
@@ -147,7 +96,9 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
   TraceParams.bReturnPhysicalMaterial = false;
 
   // Ignore ourselves
-  TraceParams.AddIgnoredActor(Super::GetOwner());
+  TraceParams.AddIgnoredActor(this);
+  if(Super::GetOwner()!=nullptr)
+    TraceParams.AddIgnoredActor(Super::GetOwner());
 
   bool isHitReturned;
   // Choosing a type of sweep is a workaround until everything get properly
@@ -157,7 +108,7 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
     // If we go only for dynamics, we check the object type AllDynamicObjects
     FCollisionObjectQueryParams TraceChannel = FCollisionObjectQueryParams(
         FCollisionObjectQueryParams::AllDynamicObjects);
-    isHitReturned = PlayerController->GetWorld()->SweepSingleByObjectType(
+    isHitReturned = currentWorld->SweepSingleByObjectType(
         HitOut,
         Start,
         End,
@@ -171,7 +122,7 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
     // Else, if we go for everything, we get everything that interacts with a
     // Pawn
     ECollisionChannel TraceChannel = ECC_WorldStatic;
-    isHitReturned = PlayerController->GetWorld()->SweepSingleByChannel(
+    isHitReturned = currentWorld->SweepSingleByChannel(
         HitOut,
         Start,
         End,
@@ -183,9 +134,8 @@ void AObstacleDetectionSensor::Tick(float DeltaSeconds)
 
   if (isHitReturned)
   {
-    OnObstacleDetectionEvent(Super::GetOwner(), HitOut.Actor.Get(), HitOut.Distance, HitOut);
+    OnObstacleDetectionEvent(this, HitOut.Actor.Get(), HitOut.Distance, HitOut);
   }
-
 }
 
 void AObstacleDetectionSensor::OnObstacleDetectionEvent(

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

@@ -7,7 +7,8 @@
 #pragma once
 
 #include "Carla/Sensor/Sensor.h"
-
+#include "Carla/Actor/ActorDefinition.h"
+#include "Carla/Actor/ActorDescription.h"
 #include "ObstacleDetectionSensor.generated.h"
 
 class UCarlaEpisode;
@@ -18,24 +19,12 @@ class CARLA_API AObstacleDetectionSensor : public ASensor
 {
   GENERATED_BODY()
 
-  float Distance;
-
-  float HitRadius;
-
-  float HeightVar;
-
-  bool bOnlyDynamics = false;
-
-  bool bDebugLineTrace = false;
-
 public:
 
   static FActorDefinition GetSensorDefinition();
 
   AObstacleDetectionSensor(const FObjectInitializer &ObjectInitializer);
 
-  void SetOwner(AActor *NewOwner) override;
-
   void Set(const FActorDescription &Description) override;
 
   void BeginPlay() override;
@@ -53,4 +42,15 @@ private:
 
   UPROPERTY()
   const UCarlaEpisode *Episode = nullptr;
+
+private:
+
+  float Distance;
+
+  float HitRadius;
+
+  bool bOnlyDynamics = false;
+
+  bool bDebugLineTrace = false;
+
 };