Raytrace result handler is resposible for when and how the raytracing starts and ends and collecting/fetching data. More...

#include <RaytraceOutputHandler.h>

Inheritance diagram for agxSensor::RtOutputHandler:

Public Types
enum	RuntimeFlag : agx::UInt32 { RAYTRACING = 1 << 0 , FETCHING_DATA = 1 << 1 , RESTORED = 1 << 2 }

using	RuntimeState = agx::AtomicState< RuntimeFlag >

Public Member Functions
	RtOutputHandler ()
	Default constructor.

template<typename T , RtOutput::Field... field>
RtOutput *	add ()
	Build matching result to a given data type T.

bool	add (RtOutputNoise *noise)
	Add output noise instance to the system tree.

bool	add (size_t uniqueId, RtOutput *output)
	Add raytrace result given unique id, e.g., RtOutput::getTypeHash<MyData>().

bool	contains (const RtOutputNoise *noise) const

template<typename T >
RtOutput *	get ()
	Access added result instance for the given data type T.

RtOutput *	get (size_t uniqueId)
	Access result instance given the unique id used when it was added.

agx::UInt32	getAmbientHitSeed () const

ISensorOutput *	getBase (size_t uniqueId) override
	Access result instance given the unique id used when it was added.

bool	getEnableRemoveRayMisses () const

RtOutputNoiseRefVector	getOutputNoises () const

size_t	getRaytraceDepth () const

bool	remove (RtOutputNoise *noise)
	Remove output noise instance from the system tree.

void	setAmbientHitSeed (agx::UInt32 seed=783u)
	Set the seed used to configure the pseudo-random generation the ambient/atmospheric hits.

void	setEnableRemoveRayMisses (bool enable)
	Enable/disable pruning of data for rays that doesn't hit any target.

void	setRaytraceDepth (size_t steps=1)
	Configure the number of maximum raytrace steps.

template<typename T >
BinaryOutputView< T >	view ()
	Directly access an output view of the raytrace output instance using a hash of the type with which it was registered.

Public Member Functions inherited from agxSensor::RtSystemNode
virtual	~RtSystemNode ()=default

virtual bool	addNotification () override
	Called when this system node has been added to a sensor environment.

virtual void	cleanup () override
	The sensor environment is being put down, clean everything.

template<typename T >
RtSystemNode *	findChildProxyFor () const

RtNode *	getNode () const

RtNode *	getOrCreateNode ()
	Called when the node is required.

virtual void	onChildAdded (SystemNode &child) override
	Called when `child` has been added to this parent.

virtual void	onChildRemoved (SystemNode &child) override
	Called when `child` has been removed from this parent.

virtual void	onParentConnect (RtSystemNode &parent)
	Called when getOrCreateNode() returns nullptr when this node is being added as child to `parent`.

virtual void	onParentDisconnect (RtSystemNode &parent)
	Called when getNode() returns nullptr when this node is being removed from its parent.

Public Member Functions inherited from agxSensor::SystemNode
	SystemNode (const SystemNode &)=delete
	Disallow direct copying of nodes.

virtual	~SystemNode ()=default

bool	addChild (SystemNode *child)
	Add unique child to this node.

virtual bool	addNotification ()
	Called when this system node has been added to a sensor environment.

bool	appendChild (SystemNode *child)
	Append child to vector of children, silently.

virtual void	cleanup ()=0
	The sensor environment is being put down, clean everything.

virtual void	complete ()
	Complete the execution of this system, finishing the integration forward in time.

bool	detachChild (SystemNode *child)
	Detach/erase child from vector of children, silently.

virtual bool	eraseAndConnect ()
	Erase this node from the tree and connect its children to the current parent of this node.

virtual void	execute (const CallbackData &data)
	Execute this system, integrating it `data.dt` forward in time.

template<typename T >
T *	findChild (bool recurse=true) const
	Find child of given type.

template<typename PredicateT >
SystemNode *	findChild (PredicateT pred, bool recurse=true) const
	Find child given predicate `pred`.

template<typename T >
T *	findParent () const

template<typename PredicateT >
SystemNode *	findParent (PredicateT pred) const
	Find parent given predicate.

template<typename T >
T *	getChild () const
	Searches children for a node of given type.

SystemNode *	getChild (size_t index) const

bool	getEnable () const

Environment *	getEnvironment () const

const agx::Name &	getName () const

size_t	getNumChildren () const

SystemNode *	getParent () const

SystemNode *	getRoot () const

bool	hasChild (const SystemNode *child, bool recurse=true) const

virtual bool	insertParent (SystemNode &parent)
	Inserts new parent to this node.

virtual bool	onAdd (agx::Referenced &instance)
	Called when an object has been added to the sensor environment.

virtual void	onChildAdded (SystemNode &child)
	Called when `child` has been added to this parent.

virtual void	onChildRemoved (SystemNode &child)
	Called when `child` has been removed from this parent.

virtual bool	onRemove (agx::Referenced &instance)
	Called when an object has been removed from the sensor environment.

bool	removeChild (SystemNode *child)
	Remove child from this node.

virtual void	removeNotification ()
	Called when this system node is being removed from a sensor environment.

virtual void	result (const CallbackData &data)
	If necessary assemble, and fetch results related to this system node after a step by `data.dt` has been completed.

void	setEnable (bool enable)
	Enable/disable this node.

void	setName (const agx::Name &name)
	Assign name to this node.

virtual void	synchronize (const CallbackData &data)
	Synchronization from the main thread.

virtual void	synchronizeGraphics (const agxRender::RenderManager &renderManager)
	At the very end of a step, synchronize any graphics related aspects of the system node.

template<typename VisitorT >
SystemNode *	visitBf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
void	visitChildren (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const SystemNode& child ).

template<typename VisitorT >
SystemNode *	visitChildrenBf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using breadth first traversal.

template<typename VisitorT >
SystemNode *	visitChildrenDf (VisitorT visitor) const
	Visit the tree from the children of this node until `callback` returns true - using depth first traversal.

template<typename T , typename VisitorT >
void	visitChildrenOfType (VisitorT visitor, bool recurse=true) const
	Visit all children with `func` as void( const T& child ).

template<typename VisitorT >
SystemNode *	visitDf (VisitorT visitor) const
	Visit the tree from, including, this node until `callback` returns true - using depth first traversal.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Public Member Functions inherited from agxSensor::ISensorOutputHandler
	ISensorOutputHandler ()=default
	Default constructor.

ISensorOutput *	get (size_t uniqueId)
	Access sensor output instance given the unique id from when it was added.

virtual ISensorOutput *	getBase (size_t uniqueId)=0
	Access sensor output instance given the unique id from when it was added.

template<typename T >
BinaryOutputView< T >	view (size_t uniqueId)
	Directly access an output view of the sensor output instance given the unique id from when it was added.

Additional Inherited Members
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agxSensor::RtSystemNode
RtNode *	m_node { nullptr }

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Raytrace result handler is resposible for when and how the raytracing starts and ends and collecting/fetching data.

Definition at line 34 of file RaytraceOutputHandler.h.

Member Typedef Documentation

◆ RuntimeState

using agxSensor::RtOutputHandler::RuntimeState = agx::AtomicState<RuntimeFlag>

Definition at line 44 of file RaytraceOutputHandler.h.

Member Enumeration Documentation

◆ RuntimeFlag

enum agxSensor::RtOutputHandler::RuntimeFlag : agx::UInt32

Enumerator
RAYTRACING
FETCHING_DATA
RESTORED

Definition at line 37 of file RaytraceOutputHandler.h.

Constructor & Destructor Documentation

◆ RtOutputHandler()

agxSensor::RtOutputHandler::RtOutputHandler ( )

Default constructor.

Member Function Documentation

◆ add() [1/3]

template<typename T , RtOutput::Field... field>

RtOutput * agxSensor::RtOutputHandler::add

Build matching result to a given data type T.

This method verifies the size of the sum of data fields matches the size of T. The created RtOutput returned from this method can later be accessed using get<T>().

Returns: created instance if successful (matching size), otherwise nullptr

Definition at line 246 of file RaytraceOutputHandler.h.

References add().

Referenced by add().

◆ add() [2/3]

bool agxSensor::RtOutputHandler::add ( RtOutputNoise * noise )

Add output noise instance to the system tree.

Parameters

noise - output noise to add to the system tree

Returns: true if added successfully, false if nullptr or already added

◆ add() [3/3]

bool agxSensor::RtOutputHandler::add	(	size_t	uniqueId,
		RtOutput *	output
	)

Add raytrace result given unique id, e.g., RtOutput::getTypeHash<MyData>().

The resulting data of a raytrace is accessed through the given result instance.

Parameters

uniqueId	- unique id > 0, id 0 is reserved and invalid to use
output	- output instance to add

Returns: true if uniqueId > 0, result != nullptr and uniqueId is unique

◆ contains()

bool agxSensor::RtOutputHandler::contains ( const RtOutputNoise * noise ) const

Parameters

noise - noise instance to check if present and active

Returns: true if noise is part of this output handler

◆ get() [1/2]

template<typename T >

RtOutput * agxSensor::RtOutputHandler::get

Access added result instance for the given data type T.

E.g., handler->add<MyData, ...>() == handler->get<MyData>().

Returns: the result instance for the given type T if it exists, otherwise nullptr

Definition at line 261 of file RaytraceOutputHandler.h.

References get().

Referenced by get().

◆ get() [2/2]

RtOutput * agxSensor::RtOutputHandler::get ( size_t uniqueId )

Access result instance given the unique id used when it was added.

Parameters

uniqueId - unique id for the result instance

Returns: result instance for the given unique id if it exists, otherwise nullptr

◆ getAmbientHitSeed()

agx::UInt32 agxSensor::RtOutputHandler::getAmbientHitSeed ( ) const

Returns: the seed used to configure the pseudo-random generation the ambient/atmospheric hits.

◆ getBase()

ISensorOutput * agxSensor::RtOutputHandler::getBase ( size_t uniqueId )

overridevirtual

Access result instance given the unique id used when it was added.

Parameters

uniqueId - unique id for the result instance

Returns: result instance for the given unique id if it exists, otherwise nullptr

Implements agxSensor::ISensorOutputHandler.

◆ getEnableRemoveRayMisses()

bool agxSensor::RtOutputHandler::getEnableRemoveRayMisses ( ) const

Returns: true if data from rays that misses any target is removed, false and the output data is one to one with the number of rays from the lidar.

◆ getOutputNoises()

RtOutputNoiseRefVector agxSensor::RtOutputHandler::getOutputNoises ( ) const

Returns: all added and active output noises

◆ getRaytraceDepth()

size_t agxSensor::RtOutputHandler::getRaytraceDepth ( ) const

Returns: current number of maximum raytrace steps.

◆ remove()

bool agxSensor::RtOutputHandler::remove ( RtOutputNoise * noise )

Remove output noise instance from the system tree.

The noise will no longer be applied to the output data if removed successfully.

Parameters

noise - noise to remove

Returns: true if removed successfully, false if nullptr or not part of this system tree

◆ setAmbientHitSeed()

void agxSensor::RtOutputHandler::setAmbientHitSeed ( agx::UInt32 seed = 783u )

Set the seed used to configure the pseudo-random generation the ambient/atmospheric hits.

Parameters

seed	- value to seed the pseudo-random generator with

◆ setEnableRemoveRayMisses()

void agxSensor::RtOutputHandler::setEnableRemoveRayMisses ( bool enable )

Enable/disable pruning of data for rays that doesn't hit any target.

This is enabled by default to minimize the output data.

Parameters

enable - true to enable pruning of data from ray that doesn't hit, false to have data one to one with the number of rays but RtOutput::IS_HIT_I32 or similar has to be checked instead.

◆ setRaytraceDepth()

void agxSensor::RtOutputHandler::setRaytraceDepth ( size_t steps = 1 )

Configure the number of maximum raytrace steps.

The number of steps is one more than the number of bounces a ray will make, however, this number will generally not affect the size of the output data. It should be noted that the time and memory complexity of the raytrace will grow exponentially with the maximum number of raytrace steps.

Parameters

steps - maximum number of steps a ray will trace.

◆ view()

template<typename T >

BinaryOutputView< T > agxSensor::RtOutputHandler::view

Directly access an output view of the raytrace output instance using a hash of the type with which it was registered.

Returns: output view of the raytrace output if an output with the given type exists and if the view type aligns with the data, otherwise an empty output view is returned

Definition at line 267 of file RaytraceOutputHandler.h.

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

RaytraceOutputHandler.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RuntimeState

Member Enumeration Documentation

◆ RuntimeFlag

Constructor & Destructor Documentation

◆ RtOutputHandler()

Member Function Documentation

◆ add() [1/3]

◆ add() [2/3]

◆ add() [3/3]

◆ contains()

◆ get() [1/2]

◆ get() [2/2]

◆ getAmbientHitSeed()

◆ getBase()

◆ getEnableRemoveRayMisses()

◆ getOutputNoises()

◆ getRaytraceDepth()

◆ remove()

◆ setAmbientHitSeed()

◆ setEnableRemoveRayMisses()

◆ setRaytraceDepth()

◆ view()