ParamSensor Class Reference

Parameter sensor is a 2D FOV sensor model, loosely based on real ultrasonic sensor behaviour More...

Inheritance diagram for ParamSensor:

Collaboration diagram for ParamSensor:

Public Member Functions
override void	Enable (Robot.SensorData callback)
	Enable this instance and pass the reference to the Robot.SensorData callback function to be called when the sensor has new information to share. More...
override void	Disable ()
	Disable this instance. More...

Public Attributes
bool	drawDebug = true
	If true the sensor will use Draw to draw raycast lines in the simulation More...
float	FOV = 20f
	The field of view angle in degrees. More...
float	maxRange = 20f
	The maximum distance for each raycast. More...
float	updateDt = 0.2f
	The sensor update delta time in seconds. More...

Properties
bool	scanning [get, private set]
	Gets a value indicating whether this ParamSensor is scanning. More...

Private Member Functions
IEnumerator	UpdateData ()
	Update data coroutine. Once started, executes until disabled. Calls _callback on Robot every update. Update rate defined by updateDt More...
float	Cast (Vector3 direction)
	Wrapper function for a single raycast. Returns the proximity distance in the specified direction. More...

Private Attributes
Robot.SensorData	_callback
	The Robot.SensorData callback to pass ProximityData to More...
ProximityData	_data
	Cached ProximityData from the last UpdateData() scan More...

Detailed Description

Parameter sensor is a 2D FOV sensor model, loosely based on real ultrasonic sensor behaviour

Definition at line 11 of file ParamSensor.cs.

Member Function Documentation

float ParamSensor.Cast ( Vector3  direction )

private

Wrapper function for a single raycast. Returns the proximity distance in the specified direction.

Parameters

direction

Direction.

Definition at line 110 of file ParamSensor.cs.

                                          {
        Ray ray = new Ray(transform.position, direction);
        RaycastHit hit;
        if (Physics.Raycast(ray, out hit, maxRange)) {
            if (drawDebug) Draw.Instance.Line(
                transform.position, 
                hit.point,
                Color.red);
            return hit.distance;
        }
        else  {
            if (drawDebug) Draw.Instance.Line(
                transform.position, 
                transform.position + direction * maxRange,
                Color.green);
            return maxRange;
        }
    }

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override void ParamSensor.Disable ( )

virtual

Disable this instance.

Implements Sensor.

Definition at line 74 of file ParamSensor.cs.

                                    {
        scanning = false;
    }

override void ParamSensor.Enable ( Robot.SensorData  callback )

virtual

Enable this instance and pass the reference to the Robot.SensorData callback function to be called when the sensor has new information to share.

Parameters

callback

Callback.

Implements Sensor.

Definition at line 67 of file ParamSensor.cs.

                                                            {
        scanning = true;
        _callback = callback;
        StartCoroutine(UpdateData());
    }

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IEnumerator ParamSensor.UpdateData ( )

private

Update data coroutine. Once started, executes until disabled. Calls _callback on Robot every update. Update rate defined by updateDt

Definition at line 86 of file ParamSensor.cs.

                                     {
        
        while(scanning) {
            float proximity = maxRange;
            for (float a = -FOV; a < FOV; a += 2f) {
                Quaternion rotation = Quaternion.Euler(new Vector3(0,a,0));
                Vector3 direction = rotation * transform.forward;
                float check = Cast (direction);
                if (check < proximity) proximity = check;
            }
            _data.direction = transform.forward * proximity;
            if (proximity < maxRange * 0.75f) _data.obstructed = true;
            else _data.obstructed = false;
            _callback(_data);
            yield return new WaitForSeconds(updateDt);
        }
    
    }

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Member Data Documentation

Robot.SensorData ParamSensor._callback

private

The Robot.SensorData callback to pass ProximityData to

Definition at line 55 of file ParamSensor.cs.

ProximityData ParamSensor._data

private

Cached ProximityData from the last UpdateData() scan

Definition at line 60 of file ParamSensor.cs.

bool ParamSensor.drawDebug = true

If true the sensor will use Draw to draw raycast lines in the simulation

Definition at line 20 of file ParamSensor.cs.

float ParamSensor.FOV = 20f

The field of view angle in degrees.

Definition at line 25 of file ParamSensor.cs.

float ParamSensor.maxRange = 20f

The maximum distance for each raycast.

Definition at line 30 of file ParamSensor.cs.

float ParamSensor.updateDt = 0.2f

The sensor update delta time in seconds.

Definition at line 35 of file ParamSensor.cs.

Property Documentation

bool ParamSensor.scanning

getprivate set

Gets a value indicating whether this ParamSensor is scanning.

true if scanning; otherwise, false.

Definition at line 45 of file ParamSensor.cs.

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The documentation for this class was generated from the following file:

• Assets/botnavsim/Scripts/Sensors/ParamSensor.cs