UltrasonicSensor Class Reference

Ultrasonic sensor model. More...

Inheritance diagram for UltrasonicSensor:

Collaboration diagram for UltrasonicSensor:

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
float	updateDt
	The sensor update delta time in seconds. More...
float	Fov
	The field of view angle in degrees. More...
float	maxRange
	The max range of the sensor in metres. More...
LayerMask	raycastLayer
	The raycast collision layer. More...

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

Private Member Functions
IEnumerator	Scan ()
	Scan for obstructions in a cone More...
float	Cast (Vector3 direction)
	Cast a ray and return detected obstruction if the hit angle is less than a threshold More...
void	Awake ()
	Awake this instance. More...
void	OnDrawGizmos ()
	Raises the draw gizmos event. More...

Private Attributes
Robot.SensorData	_callback
	The callback function to execute when the sensor has new data to share. More...
ProximityData	_data
	Cached proximity data from the last scan More...
Color	_recieveColor
Color	_hitColor
Color	_missColor

Detailed Description

Ultrasonic sensor model.

Definition at line 7 of file UltrasonicSensor.cs.

Member Function Documentation

void UltrasonicSensor.Awake ( )

private

Awake this instance.

Definition at line 144 of file UltrasonicSensor.cs.

                 {
        _recieveColor = Color.red;
        _recieveColor.a = 0.5f;
        _hitColor = Color.green;
        _hitColor.a = 0.25f;
        _missColor = Color.grey;
        _missColor.a = 0.5f;
    }

float UltrasonicSensor.Cast ( Vector3  direction )

private

Cast a ray and return detected obstruction if the hit angle is less than a threshold

Parameters

direction

Direction.

Definition at line 103 of file UltrasonicSensor.cs.

                                          {
        Ray ray = new Ray(transform.position, direction);
        RaycastHit hit;
        float proximity = maxRange;
        if (Physics.Raycast(ray, out hit, maxRange, raycastLayer)) {
            // if the hit angle is small enough, then assume the sound was reflected and recieved
            if (Vector3.Angle(-hit.normal, direction) < 30f) {
                proximity = hit.distance;
                Draw.Instance.Line(
                    transform.position, 
                    hit.point,
                    _recieveColor);
                Draw.Instance.Line(
                    hit.point,
                    hit.point+hit.normal*0.1f,
                    Color.magenta);
            }
            else {
                Draw.Instance.Line(
                    transform.position, 
                    hit.point,
                    _hitColor);
                Draw.Instance.Line(
                    hit.point,
                    hit.point+hit.normal*0.1f,
                    Color.cyan);
            }
        }
        else {
            Draw.Instance.Line(
                transform.position, 
                transform.position + direction * maxRange,
                _missColor);
        }
        
        return proximity;
    }

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override void UltrasonicSensor.Disable ( )

virtual

Disable this instance.

Implements Sensor.

Definition at line 58 of file UltrasonicSensor.cs.

                                    {
        scanning = false;
    }

override void UltrasonicSensor.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 52 of file UltrasonicSensor.cs.

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

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void UltrasonicSensor.OnDrawGizmos ( )

private

Raises the draw gizmos event.

Definition at line 157 of file UltrasonicSensor.cs.

                        {
        Gizmos.color = Color.grey;
        // roll
        for (float r = 0; r <= 180f; r += 30f) {
            // yaw
            for (float y = -Fov; y <= Fov; y += 10f){
                Quaternion rotation = Quaternion.AngleAxis(y, transform.up);
                Vector3 direction = rotation * transform.forward;
                rotation = Quaternion.AngleAxis(r, transform.forward);
                direction = rotation * direction;
                Gizmos.DrawRay(transform.position, direction * maxRange);
            }
        }
    }

IEnumerator UltrasonicSensor.Scan ( )

private

Scan for obstructions in a cone

Definition at line 73 of file UltrasonicSensor.cs.

                               {
        
        while(scanning) {
            float proximity = maxRange;
            // roll
            for (float r = 0; r <= 180f; r += 10f) {
                // yaw
                for (float y = -Fov; y < Fov; y += 6f){
                    Quaternion rotation;
                    Vector3 direction;
                    rotation = Quaternion.AngleAxis(y, transform.up);
                    direction = rotation * transform.forward;
                    rotation = Quaternion.AngleAxis(r, transform.forward);
                    direction = rotation * direction;
                    float cast = Cast(direction);
                    // if this cast is shorter than returnData
                    if (cast < proximity) proximity = cast;
                }
            }
            _data = new ProximityData(transform.forward * proximity, proximity < maxRange);
            _callback(_data);
            yield return new WaitForSeconds(updateDt);
        }
        
    }

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Member Data Documentation

Robot.SensorData UltrasonicSensor._callback

private

The callback function to execute when the sensor has new data to share.

Definition at line 39 of file UltrasonicSensor.cs.

ProximityData UltrasonicSensor._data

private

Cached proximity data from the last scan

Definition at line 44 of file UltrasonicSensor.cs.

Color UltrasonicSensor._hitColor

private

Definition at line 48 of file UltrasonicSensor.cs.

Color UltrasonicSensor._missColor

private

Definition at line 49 of file UltrasonicSensor.cs.

Color UltrasonicSensor._recieveColor

private

Definition at line 47 of file UltrasonicSensor.cs.

float UltrasonicSensor.Fov

The field of view angle in degrees.

Definition at line 20 of file UltrasonicSensor.cs.

float UltrasonicSensor.maxRange

The max range of the sensor in metres.

Definition at line 25 of file UltrasonicSensor.cs.

LayerMask UltrasonicSensor.raycastLayer

The raycast collision layer.

Definition at line 30 of file UltrasonicSensor.cs.

float UltrasonicSensor.updateDt

The sensor update delta time in seconds.

Definition at line 15 of file UltrasonicSensor.cs.

Property Documentation

bool UltrasonicSensor.scanning

getprivate set

Gets a value indicating whether this UltrasonicSensor is enabled and scanning.

true if scanning; otherwise, false.

Definition at line 66 of file UltrasonicSensor.cs.

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

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