GenericSensorInterface#
Fully qualified name: isaacsim::sensors::physx::GenericSensorInterface
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class GenericSensorInterface#
Interface for accessing generic range sensor functionality.
Provides methods to interact with configurable range sensors that can be customized for different scanning patterns and behaviors.
Public Members
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bool (*isGenericSensor)(const char *sensorPath)#
Checks if a given path refers to a generic sensor.
- Param sensorPath:
[in] Path to check.
- Return:
True if path refers to a generic sensor, false otherwise.
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int (*getNumSamplesTicked)(const char *sensorPath)#
Gets the number of samples processed in the current tick.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Number of samples processed.
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uint16_t *(*getDepthData)(const char *sensorPath)#
Gets the depth data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the depth data buffer.
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float *(*getLinearDepthData)(const char *sensorPath)#
Gets the linear depth data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the linear depth data buffer.
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uint8_t *(*getIntensityData)(const char *sensorPath)#
Gets the intensity data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the intensity data buffer.
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float *(*getZenithData)(const char *sensorPath)#
Gets the zenith angle data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the zenith angle data buffer.
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float *(*getAzimuthData)(const char *sensorPath)#
Gets the azimuth angle data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the azimuth angle data buffer.
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carb::Float3 *(*getPointCloud)(const char *sensorPath)#
Gets the point cloud data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the point cloud data buffer.
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carb::Float3 *(*getOffsetData)(const char *sensorPath)#
Gets the offset data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the offset data buffer.
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bool (*sendNextBatch)(const char *sensorPath)#
Sends the next batch of ray configurations to be processed.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
True if batch was sent successfully, false otherwise.
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void (*setNextBatchRays)(const char *sensorPath, const float *azimuthAngles, const float *zenithAngles, const int sampleLength)#
Sets the ray configuration for the next batch.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Param azimuth_angles:
[in] Array of azimuth angles for each ray.
- Param zenith_angles:
[in] Array of zenith angles for each ray.
- Param sample_length:
[in] Number of rays in the batch.
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void (*setNextBatchOffsets)(const char *sensorPath, const float *originOffsets, const int sampleLength)#
Sets the origin offsets for the next batch of rays.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Param origin_offsets:
[in] Array of origin offsets for each ray.
- Param sample_length:
[in] Number of rays in the batch.
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bool (*isGenericSensor)(const char *sensorPath)#