#include <Radar.h>

Inheritance diagram for ARadar:

[legend]

Collaboration diagram for ARadar:

[legend]

Classes
struct	FRadarDetection

struct	RadarData

struct	RayData

Public Member Functions
	ARadar (const FObjectInitializer &ObjectInitializer)

void	Init (FRadarParameters parameters, bool SimulateSensor=true)

virtual ESensorTypes	GetSensorType () const override

void	ChangeRadarParameters (FRadarParameters Parameters)

void	SetVisualizeParticles (bool Visualize)

FRadarParameters	GetRadarParameters ()

virtual FString	GetParametersAsString () const override

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

FString	ExportToJsonFile (const FString &FileName)

virtual ESensorTypes	GetSensorType () const

FString	GetSensorIdentifier () const

void	SetSensorIdentifier (const FString newIdentifier)

FString	GetSensorName () const

virtual FString	GetParametersAsString () const

void	SetSensorName (const FString newName)

virtual FString	GetTopicName ()

UTopic *	GetROSTopic () const

void	SetSimulateSensor (bool SimulateSensor)

bool	CanSimulateSensor () const

ASensorModel *	GetSensorModel () const

void	SetSensorModel (ASensorModel *NewSensorModel)

bool	IsROSConnected () const

UROSIntegrationGameInstance *	GetROSGameInstance () const

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Private Member Functions
void	BeginPlay () override

virtual void	Tick (float DeltaTime) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	SendRadarData ()

void	SetRadarParameters (FRadarParameters Parameters)

void	CalculateCurrentVelocity (const float DeltaTime)

void	SimulateRadar (float DeltaTime)

float	CalculateRelativeVelocity (const FHitResult &OutHit, const FVector &RadarLocation, const FVector ActorVelocity)

Private Attributes
UNiagaraComponent *	NiagaraComponent

bool	VisualizeParticles = false

TArray< FVector >	HitLocations

FRadarParameters	RadarParameters

FRadarParameters	TempRadarParameters

FVector	CurrentVelocity

FVector	PrevLocation

std::vector< RayData >	Rays

std::vector< FRadarDetection >	detections

UWorld *	World = nullptr

bool	RadarParametersChanged = false

TSharedPtr< ROSMessages::sensor_msgs::PointCloud2 >	RadarMessage

Additional Inherited Members
Static Public Member Functions inherited from ASensor
static void	HideComponentForAllCameras (UPrimitiveComponent *PrimitiveComponent)

static TMap< FString, FColor >	GetSemanticColors ()

static TArray< TWeakObjectPtr< UPrimitiveComponent > >	GetComponentsToHide ()

Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Public Attributes inherited from ASensor
FSensorDestroy	OnSensorDestroy

FString	AttachedToComponent

FName	AttachedToBone

Protected Member Functions inherited from ASensor
virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

virtual void	CreateROSTopic ()

virtual void	DestroyROSTopic ()

virtual void	CreateDataSavePath ()

bool	IsLogFileCreated ()

virtual void	CreateLogFile ()

void	WriteToLogFile (const FString &Message)

Static Protected Member Functions inherited from ASensor
template<typename InStructType >
static FString	StructToString (const InStructType &InStruct)

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

FString	FileSavePath

UROSIntegrationGameInstance *	ROSInstance = nullptr

Static Protected Attributes inherited from ASensor
static FPrimitiveAdded	OnPrimitiveAdded

static const FName	NiagaraPointsInt = "User.PointCount"

static const FName	NiagaraHitPoints = "User.HitPoints"

static const FName	NiagaraHitColors = "User.HitColors"

static const FName	NiagaraPointsFloat = "User.Test"

Detailed Description

Linetrace based Radar sensor.

Definition at line 25 of file Radar.h.

Constructor & Destructor Documentation

◆ ARadar()

ARadar::ARadar ( const FObjectInitializer & ObjectInitializer )

Definition at line 17 of file Radar.cpp.

                                                          : Super(ObjectInitializer)
{
    PrimaryActorTick.bCanEverTick = true;
}

Member Function Documentation

◆ BeginPlay()

void ARadar::BeginPlay ( )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 55 of file Radar.cpp.

{
    Super::BeginPlay();
 
    if (!World)
    {
        World = GetWorld();
    }
 
    PrevLocation = GetActorLocation();
 
    // Create RadarMessage
    RadarMessage = MakeShared<ROSMessages::sensor_msgs::PointCloud2>();
    RadarMessage->header.frame_id = "world";
    RadarMessage->height = 1;
    RadarMessage->is_dense = true;
    RadarMessage->fields.SetNum(7);
 
    RadarMessage->fields[0].name = "x";
    RadarMessage->fields[0].offset = 0;
    RadarMessage->fields[0].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[0].count = 1;
 
    RadarMessage->fields[1].name = "y";
    RadarMessage->fields[1].offset = 4;
    RadarMessage->fields[1].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[1].count = 1;
 
    RadarMessage->fields[2].name = "z";
    RadarMessage->fields[2].offset = 8;
    RadarMessage->fields[2].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[2].count = 1;
 
    RadarMessage->fields[3].name = "Range";
    RadarMessage->fields[3].offset = 12;
    RadarMessage->fields[3].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[3].count = 1;
 
    RadarMessage->fields[4].name = "Velocity";
    RadarMessage->fields[4].offset = 16;
    RadarMessage->fields[4].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[4].count = 1;
 
    RadarMessage->fields[5].name = "AzimuthAngle";
    RadarMessage->fields[5].offset = 20;
    RadarMessage->fields[5].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[5].count = 1;
 
    RadarMessage->fields[6].name = "ElevationAngle";
    RadarMessage->fields[6].offset = 28;
    RadarMessage->fields[6].datatype = ROSMessages::sensor_msgs::PointCloud2::PointField::FLOAT32;
    RadarMessage->fields[6].count = 1;
 
    RadarMessage->point_step = 56;
}

References PrevLocation, RadarMessage, and World.

◆ CalculateCurrentVelocity()

void ARadar::CalculateCurrentVelocity ( const float DeltaTime )

private

Definition at line 188 of file Radar.cpp.

{
    const FVector RadarLocation = GetActorLocation();
    CurrentVelocity = (RadarLocation - PrevLocation) / DeltaTime;
    PrevLocation = RadarLocation;
}

References CurrentVelocity, and PrevLocation.

Referenced by SimulateRadar().

◆ CalculateRelativeVelocity()

float ARadar::CalculateRelativeVelocity	(	const FHitResult &	OutHit,
		const FVector &	RadarLocation,
		const FVector	ActorVelocity
	)

private

Definition at line 340 of file Radar.cpp.

{
    constexpr float TO_METERS = 1e-2;
 
    const FVector TargetVelocity = ActorVelocity;
    const FVector TargetLocation = (OutHit.ImpactPoint * TO_METERS);
    const FVector Direction = (TargetLocation - RadarLocation).GetSafeNormal();
    const FVector DeltaVelocity = (TargetVelocity - CurrentVelocity);
    const float V = TO_METERS * FVector::DotProduct(DeltaVelocity, Direction);
 
    return V;
}

References CurrentVelocity.

Referenced by SimulateRadar().

◆ ChangeRadarParameters()

void ARadar::ChangeRadarParameters ( FRadarParameters Parameters )

Change Radar parameters at the end of this frame

Parameters

FRadarParameters struct

Definition at line 152 of file Radar.cpp.

{
    if (!CanSimulateSensor())
    {
        // We are not currently simulating sensor, we can safely change parameters here
        SetRadarParameters(Parameters);
    }
    else
    {
        // Change parameters at the end of the frame
        TempRadarParameters = Parameters;
        RadarParametersChanged = true;
    }
}

References ASensor::CanSimulateSensor(), RadarParametersChanged, SetRadarParameters(), and TempRadarParameters.

◆ EndPlay()

void ARadar::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 111 of file Radar.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    HitLocations.Empty();
 
    detections.clear();
    Rays.clear();
 
    if (RadarMessage.IsValid())
    {
        RadarMessage.Reset();
    }
 
    if (NiagaraComponent)
    {
        NiagaraComponent->UnregisterComponent();
        NiagaraComponent->DestroyComponent();
    }
 
    World = nullptr;
}

References detections, HitLocations, NiagaraComponent, RadarMessage, Rays, and World.

◆ GetParametersAsString()

virtual FString ARadar::GetParametersAsString ( ) const

inlineoverridevirtual

Get current LidarParameters struct fields as one string.

Reimplemented from ASensor.

Definition at line 72 of file Radar.h.

    {
        return StructToString(RadarParameters);
    }

◆ GetRadarParameters()

FRadarParameters ARadar::GetRadarParameters ( )

inline

Get current Radar parameters

Returns: FRadarParameters struct

Definition at line 64 of file Radar.h.

    {
        return RadarParameters;
    }

Referenced by USimulatorJsonExporter::ExportSensorToJSON().

◆ GetSensorType()

virtual ESensorTypes ARadar::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ASensor.

Definition at line 43 of file Radar.h.

43{ return ESensorTypes::Radar; }

ESensorTypes::Radar

@ Radar

References Radar.

◆ Init()

void ARadar::Init	(	FRadarParameters	parameters,
		bool	SimulateSensor = `true`
	)

Initialize new Radar sensor

Parameters

parameters FRadarParameters struct

Definition at line 22 of file Radar.cpp.

{
    SetSimulateSensor(SimulateSensor);
    SetRadarParameters(parameters);
 
    World = GetWorld();
 
    CreateROSTopic();
 
    // Load pointcloud Niagara particle system
    UNiagaraSystem* NS = LoadObject<UNiagaraSystem>(nullptr, TEXT("/Game/Agrarsense/Particles/PointCloud/NS_PointCloudFast"), nullptr, LOAD_None, nullptr);
    if (NS)
    {
        NiagaraComponent = UNiagaraFunctionLibrary::SpawnSystemAtLocation(World, NS, GetActorLocation());
        if (NiagaraComponent)
        {
            // Hide this NiagaraComponent for all Camera sensors.
            HideComponentForAllCameras(Cast<UPrimitiveComponent>(NiagaraComponent));
 
            NiagaraComponent->SetAffectDynamicIndirectLighting(false);
            NiagaraComponent->SetAffectDistanceFieldLighting(false);
            NiagaraComponent->SetCastContactShadow(false);
            NiagaraComponent->SetCastShadow(false);
        }
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("Radar.cpp: Couldn't find Niagara particle system."));
    }
#endif
}

References ASensor::CreateROSTopic(), ASensor::HideComponentForAllCameras(), NiagaraComponent, SetRadarParameters(), ASensor::SetSimulateSensor(), and World.

Referenced by USensorFactory::SpawnRadar().

◆ SendRadarData()

void ARadar::SendRadarData ( )

private

Definition at line 353 of file Radar.cpp.

{
    UTopic* Topic = GetROSTopic();
 
    if (!SendDataToROS
        || !Topic
        || !RadarMessage.IsValid()
        || detections.empty())
    {
        return;
    }
 
    int detectionsSize = detections.size();
    RadarMessage->width = detectionsSize;
    RadarMessage->row_step = detectionsSize * RadarMessage->point_step;
 
    TUniquePtr<uint8> data(new uint8[RadarMessage->row_step]);
    int pointStep = RadarMessage->point_step;
 
    int i = 0;
    for (const FRadarDetection& detection : detections)
    {
        RadarData params =
        {
          detection.depth * cos(detection.azimuth) * cos(-detection.altitude),
          detection.depth * sin(-detection.azimuth) * cos(detection.altitude),
          detection.depth * sin(detection.altitude),
          detection.depth,
          detection.velocity,
          detection.azimuth,
          detection.altitude
        };
 
        memcpy(data.Get() + i * pointStep, &params, sizeof(params));
        i++;
    }
 
    RadarMessage->data_ptr = data.Get();
 
    Topic->Publish(RadarMessage);
}

References detections, ASensor::GetROSTopic(), RadarMessage, ASensor::SendDataToROS, and ARadar::RadarData::velocity.

Referenced by SimulateRadar().

◆ SetRadarParameters()

void ARadar::SetRadarParameters ( FRadarParameters Parameters )

private

Definition at line 176 of file Radar.cpp.

{
    RadarParameters = Parameters;
 
    SendDataToROS = RadarParameters.SendDataToRos;
    VisualizeParticles = RadarParameters.VisualizeRadarHits;
 
    detections.clear();
    detections.shrink_to_fit();
    detections.reserve(RadarParameters.PointsPerSecond);
}

References detections, FRadarParameters::PointsPerSecond, RadarParameters, FRadarParameters::SendDataToRos, ASensor::SendDataToROS, VisualizeParticles, and FRadarParameters::VisualizeRadarHits.

Referenced by ChangeRadarParameters(), Init(), and Tick().

◆ SetVisualizeParticles()

void ARadar::SetVisualizeParticles ( bool Visualize )

Set visualize this radar particles with Niagara particle system

Parameters

visualize boolean

Definition at line 167 of file Radar.cpp.

{
    VisualizeParticles = Visualize;
    if (NiagaraComponent)
    {
        NiagaraComponent->SetRenderingEnabled(VisualizeParticles);
    }
}

References NiagaraComponent, and VisualizeParticles.

◆ SimulateRadar()

void ARadar::SimulateRadar ( float DeltaTime )

private

Definition at line 195 of file Radar.cpp.

{
    TRACE_CPUPROFILER_EVENT_SCOPE(ARadar::SimulateRadar);
 
    CalculateCurrentVelocity(DeltaTime);
 
    auto TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, this);
    TraceParams.bTraceComplex = true;
    TraceParams.bReturnPhysicalMaterial = false;
 
    constexpr float TO_METERS = 1e-2;
    const FTransform& ActorTransform = GetActorTransform();
    const FRotator& TransformRotator = ActorTransform.Rotator();
    const FVector& RadarLocation = GetActorLocation();
    const FVector& ForwardVector = GetActorForwardVector();
    const FVector TransformXAxis = ActorTransform.GetUnitAxis(EAxis::X);
    const FVector TransformYAxis = ActorTransform.GetUnitAxis(EAxis::Y);
    const FVector TransformZAxis = ActorTransform.GetUnitAxis(EAxis::Z);
 
    const float Range = RadarParameters.Range * 100;
    const float HorizontalFOV = RadarParameters.HorizontalFOV;
    const float VerticalFOV = RadarParameters.VerticalFOV;
    const float PointsPerSecond = RadarParameters.PointsPerSecond;
 
    bool DebugLines = false;
    EParallelForFlags Flag = EParallelForFlags::Unbalanced; 
    if (DebugLines) 
    {
        Flag = EParallelForFlags::ForceSingleThread;
    }
 
    // Maximum radar radius in horizontal and vertical direction
    const float MaxRx = FMath::Tan(FMath::DegreesToRadians(HorizontalFOV * 0.5f)) * Range;
    const float MaxRy = FMath::Tan(FMath::DegreesToRadians(VerticalFOV * 0.5f)) * Range;
    const int NumPoints = (int)(PointsPerSecond * DeltaTime);
 
    Rays.clear();
    Rays.resize(NumPoints);
    for (int32 i = 0; i < Rays.size(); i++)
    {
        Rays[i].Radius = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
        Rays[i].Angle = 0.0f + static_cast<float>(rand()) / (static_cast<float>(RAND_MAX / (2 * PI - 0.0f)));
        Rays[i].Hit = false;
    }
 
    // Linetrace in parallel
    ParallelFor(NumPoints, [&](int32 idx)
    {
        FHitResult OutHit(ForceInit);
        const float Radius = Rays[idx].Radius;
        const float Angle = Rays[idx].Angle;
 
        float Sin, Cos;
        FMath::SinCos(&Sin, &Cos, Angle);
 
        const FVector EndLocation = RadarLocation + TransformRotator.RotateVector({
            Range,
            MaxRx * Radius * Cos,
            MaxRy * Radius * Sin
        });
 
        bool hit = false;
 
#ifdef ParallelLineTraceSingleByChannel_EXISTS
        hit = World->ParallelLineTraceSingleByChannel(
            OutHit,
            RadarLocation,
            EndLocation,
            ECC_GameTraceChannel3,
            TraceParams,
            FCollisionResponseParams::DefaultResponseParam);
#else
        hit = World->LineTraceSingleByChannel(
            OutHit,
            RadarLocation,
            EndLocation,
            ECC_GameTraceChannel3,
            TraceParams,
            FCollisionResponseParams::DefaultResponseParam);
#endif
 
#ifdef UE_BUILD_DEBUG
        if (DebugLines)
        {
            DrawDebugLine(World, RadarLocation, EndLocation, FColor::Green, false, 1.0f);
        }
#endif
 
        const TWeakObjectPtr<AActor> Actor = OutHit.GetActor();
        if (hit && Actor.IsValid())
        {
            auto point = OutHit.ImpactPoint;
            point *= 1e-2;
            Rays[idx].HitPoint = point;
            Rays[idx].Hit = true;
            Rays[idx].RelativeVelocity = CalculateRelativeVelocity(OutHit, RadarLocation, Actor->GetVelocity());
            Rays[idx].AzimuthAndElevation = FMath::GetAzimuthAndElevation(
                (EndLocation - RadarLocation).GetSafeNormal() * Range,
                TransformXAxis,
                TransformYAxis,
                TransformZAxis
            );
            Rays[idx].Distance = OutHit.Distance * TO_METERS;
        }
    }, Flag);
 
 
    if (VisualizeParticles)
    {
        HitLocations.Empty();
    }
 
    // Clear previous detections
    detections.clear();
 
    // Write the detections to the output structure
    for (auto& ray : Rays)
    {
        if (ray.Hit)
        {
            detections.push_back({
                ray.RelativeVelocity,
                (float)ray.AzimuthAndElevation.X,
                (float)ray.AzimuthAndElevation.Y,
                 ray.Distance
            });
 
            if (VisualizeParticles)
            {
                HitLocations.Add(ray.HitPoint);
            }
        }
    }
 
    if (VisualizeParticles && NiagaraComponent)
    {
        int numberOfHits = HitLocations.Num();
        NiagaraComponent->SetVariableFloat(NiagaraPointsFloat, float(numberOfHits));
        NiagaraComponent->SetVariableInt(NiagaraPointsInt, numberOfHits);
        UNiagaraDataInterfaceArrayFunctionLibrary::SetNiagaraArrayVector(NiagaraComponent, NiagaraHitPoints, HitLocations);
    }
 
    SendRadarData();
}

References CalculateCurrentVelocity(), CalculateRelativeVelocity(), detections, HitLocations, FRadarParameters::HorizontalFOV, NiagaraComponent, ASensor::NiagaraHitPoints, ASensor::NiagaraPointsFloat, ASensor::NiagaraPointsInt, FRadarParameters::PointsPerSecond, RadarParameters, FRadarParameters::Range, Rays, SendRadarData(), SimulateRadar(), FRadarParameters::VerticalFOV, VisualizeParticles, and World.

Referenced by SimulateRadar(), and Tick().

◆ Tick()

void ARadar::Tick ( float DeltaTime )

overrideprivatevirtual

Definition at line 134 of file Radar.cpp.

{
    TRACE_CPUPROFILER_EVENT_SCOPE(ARadar::Tick);
 
    if (!CanSimulateSensor())
    {
        return;
    }
 
    SimulateRadar(DeltaTime);
 
    if (RadarParametersChanged)
    {
        SetRadarParameters(TempRadarParameters);
        RadarParametersChanged = false;
    }
}

References ASensor::CanSimulateSensor(), RadarParametersChanged, SetRadarParameters(), SimulateRadar(), TempRadarParameters, and Tick().

Referenced by Tick().

Member Data Documentation

◆ CurrentVelocity

FVector ARadar::CurrentVelocity

private

Definition at line 107 of file Radar.h.

Referenced by CalculateCurrentVelocity(), and CalculateRelativeVelocity().

◆ detections

std::vector<FRadarDetection> ARadar::detections

private

Definition at line 132 of file Radar.h.

Referenced by EndPlay(), SendRadarData(), SetRadarParameters(), and SimulateRadar().

◆ HitLocations

TArray<FVector> ARadar::HitLocations

private

Definition at line 93 of file Radar.h.

Referenced by EndPlay(), and SimulateRadar().

◆ NiagaraComponent

UNiagaraComponent* ARadar::NiagaraComponent

private

Definition at line 88 of file Radar.h.

Referenced by EndPlay(), Init(), SetVisualizeParticles(), and SimulateRadar().

◆ PrevLocation

FVector ARadar::PrevLocation

private

Definition at line 110 of file Radar.h.

Referenced by BeginPlay(), and CalculateCurrentVelocity().

◆ RadarMessage

TSharedPtr<ROSMessages::sensor_msgs::PointCloud2> ARadar::RadarMessage

private

Definition at line 149 of file Radar.h.

Referenced by BeginPlay(), EndPlay(), and SendRadarData().

◆ RadarParameters

FRadarParameters ARadar::RadarParameters

private

Definition at line 95 of file Radar.h.

Referenced by SetRadarParameters(), and SimulateRadar().

◆ RadarParametersChanged

bool ARadar::RadarParametersChanged = false

private

Definition at line 136 of file Radar.h.

Referenced by ChangeRadarParameters(), and Tick().

◆ Rays

std::vector<RayData> ARadar::Rays

private

Definition at line 131 of file Radar.h.

Referenced by EndPlay(), and SimulateRadar().

◆ TempRadarParameters

FRadarParameters ARadar::TempRadarParameters

private

Definition at line 97 of file Radar.h.

Referenced by ChangeRadarParameters(), and Tick().

◆ VisualizeParticles

bool ARadar::VisualizeParticles = false

private

Definition at line 90 of file Radar.h.

Referenced by SetRadarParameters(), SetVisualizeParticles(), and SimulateRadar().

◆ World

UWorld* ARadar::World = nullptr

private

Definition at line 134 of file Radar.h.

Referenced by BeginPlay(), EndPlay(), Init(), and SimulateRadar().

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

Unreal/Agrarsense/Source/Agrarsense/Sensor/Radar/Radar.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Radar/Radar.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ARadar()

Member Function Documentation

◆ BeginPlay()

◆ CalculateCurrentVelocity()

◆ CalculateRelativeVelocity()

◆ ChangeRadarParameters()

◆ EndPlay()

◆ GetParametersAsString()

◆ GetRadarParameters()

◆ GetSensorType()

◆ Init()

◆ SendRadarData()

◆ SetRadarParameters()

◆ SetVisualizeParticles()

◆ SimulateRadar()

◆ Tick()

Member Data Documentation

◆ CurrentVelocity

◆ detections

◆ HitLocations

◆ NiagaraComponent

◆ PrevLocation

◆ RadarMessage

◆ RadarParameters

◆ RadarParametersChanged

◆ Rays

◆ TempRadarParameters

◆ VisualizeParticles

◆ World