RangeSensorManager#

Fully qualified name: isaacsim::sensors::physx::RangeSensorManager

class RangeSensorManager : public isaacsim::core::includes::PrimManagerBase<RangeSensorComponent>#

Manager class for handling multiple range sensor components in the simulation.

This class manages the lifecycle and updates of various range sensor types including Lidar sensors, generic range sensors, and light beam sensors. It handles sensor initialization, updates, and cleanup while providing thread-safe access to sensor data. The manager supports parallel processing of multiple sensors and ensures proper synchronization with the physics simulation timeline.

Public Functions

inline RangeSensorManager( omni::physx::IPhysx *physxPtr, carb::tasking::ITasking *taskingPtr, )#

Constructs a new Sensor Manager object.

Parameters:

physxPtr – [in] Pointer to the PhysX interface for physics simulation
taskingPtr – [in] Pointer to the tasking interface for parallel processing

~RangeSensorManager() = default#: Virtual destructor for proper cleanup.

inline void onPhysicsStep(const double &dt)#

Updates all sensor components after each physics simulation step.

Processes each enabled sensor component, updating their timestamps and triggering their physics step handlers. Also manages the initialization of components that haven’t started yet.

Parameters:: dt – [in] The time step duration in seconds

inline virtual void tick(double dt)#

Updates all sensor components during the simulation tick.

Processes each enabled sensor component in parallel if multiple sensors exist. Handles component initialization, pre-tick operations, main tick updates, and visualization drawing.

Parameters:: dt – [in] The time step duration in seconds

inline virtual void onStop()#

Handles cleanup when the simulation scene is stopped.

Resets all components to ensure proper reinitialization on next start

inline virtual void onComponentAdd(const pxr::UsdPrim &prim)#

Creates a new sensor component based on the USD prim type.

Instantiates the appropriate sensor type (Lidar, Generic, or LightBeam) based on the prim type and initializes it with the provided parameters

Parameters:: prim – [in] The USD prim representing the sensor to create

inline virtual std::vector<std::string> getComponentIsAVector( ) const#

Gets the list of supported sensor component types.

Returns:: Vector of strings containing the supported sensor type names

inline virtual void onComponentChange(const pxr::UsdPrim &prim)#

Handles property changes for a sensor component.

Updates the corresponding sensor component with the new property values

Parameters:: prim – [in] The USD prim whose properties have changed

inline LidarSensor *getLidarSensor(const pxr::UsdPrim &prim)#

Retrieves a Lidar sensor component associated with the given USD prim.

Parameters:: prim – [in] The USD prim associated with the desired Lidar sensor
Returns:: Pointer to the LidarSensor component if found, nullptr otherwise

inline GenericSensor *getGenericSensor(const pxr::UsdPrim &prim)#

Retrieves a generic range sensor component associated with the given USD prim.

Parameters:: prim – [in] The USD prim associated with the desired generic sensor
Returns:: Pointer to the GenericSensor component if found, nullptr otherwise

inline LightBeamSensor *getLightBeamSensor(const pxr::UsdPrim &prim)#

Retrieves a light beam sensor component associated with the given USD prim.

Parameters:: prim – [in] The USD prim associated with the desired light beam sensor
Returns:: Pointer to the LightBeamSensor component if found, nullptr otherwise

inline virtual void initialize(pxr::UsdStageWeakPtr stage)#

Initializes the application with a USD stage.

Sets up the stage reference and creates the notice listener

Parameters:: stage – [in] Weak pointer to the USD stage to be managed
Post:: Application is initialized with the stage and notice listener

inline virtual void initComponents()#

Initializes components from the current stage.

Scans the USD stage for prims matching component types and creates corresponding components. Uses the USD runtime API for efficient traversal.

inline virtual void onPhysicsStep(float dt)#

Updates components during physics simulation steps.

Override this to implement physics-specific component updates

Parameters:: dt – [in] Physics time step in seconds

inline virtual void onComponentRemove(const pxr::SdfPath &primPath)#

Removes components associated with a prim and its descendants.

Safely removes components when their corresponding prims are deleted from the stage. Uses a mutex to ensure thread-safe component removal.

Thread Safety: This method is thread-safe

Parameters:: primPath – [in] Path to the prim being removed

inline virtual void deleteAllComponents()#

Removes all components and performs cleanup.

Thread-safe method to remove all components and release their resources

Thread Safety: This method is thread-safe

inline virtual void onStart()#

Handles application start event.

Optional callback that runs when the application starts Override this to implement custom start behavior

inline pxr::UsdStageWeakPtr getStage()#

Retrieves the managed USD stage.

Returns:: Weak pointer to the current USD stage

Protected Attributes

std::unordered_map<std::string, std::unique_ptr<RangeSensorComponent>> m_components#: Map of component paths to their corresponding component instances.

std::unique_ptr<PrimManagerUsdNoticeListener> m_noticeListener#: USD notice listener for stage changes.

std::mutex m_componentMtx#: Mutex for thread-safe component operations.

pxr::UsdStageWeakPtr m_stage = nullptr#: Weak pointer to the managed USD stage.

double m_timeSeconds = 0#: Current simulation time in seconds.

int64_t m_timeNanoSeconds = 0#: Current simulation time in nanoseconds.

double m_timeDelta = 0#: Time delta for current tick in seconds.