chrono::sensor::ChSensorManager Class Reference

Description

class for managing sensors. This is the Sensor system class.

#include <ChSensorManager.h>

Public Member Functions
	ChSensorManager (ChSystem *chrono_system)
	Class constructor. More...
	~ChSensorManager ()
	Class destructor.
void	Update ()
	Update function that will prompt the manager to update its sensors if they need to be updated according to the current time of the chrono simulation.
void	AddSensor (std::shared_ptr< ChSensor > sensor)
	Add a sensor to the manager. More...
std::vector< std::shared_ptr< ChSensor > >	GetSensorList ()
	Get the list of sensors for which this manager is responsible. More...
void	SetDeviceList (std::vector< unsigned int > device_ids)
	Set the list of devices (GPUs) that should be used for rendering. More...
std::vector< unsigned int >	GetDeviceList ()
	Get the list of devices that are intended for use. More...
int	GetNumEngines ()
	Get the number of engines the manager is currently using. More...
std::shared_ptr< ChOptixEngine >	GetEngine (int context_id)
	Get a pointer to the engine based on the id of the engine. More...
void	ReconstructScenes ()
	Calls on the sensor manager to rebuild the scene, translating all objects from the Chrono system into their appropriate optix objects.
int	GetMaxEngines ()
	Get the maximum number of allowed OptiX Engines for the manager. More...
void	SetMaxEngines (int num_groups)
	Set the maximum number of allowable optix engines. More...
void	SetRayRecursions (int rec)
	Set the number of recursions for ray tracing. More...
int	GetRayRecursions ()
	Get the number of recursions used in ray tracing. More...
void	SetVerbose (bool verbose)
	Set if the sensor framework should print all info. More...
bool	GetVerbose ()
	Get the verbose setting. More...

Public Attributes
std::shared_ptr< ChScene >	scene
	Public pointer to the scene. More...

Constructor & Destructor Documentation

ChSensorManager()

CH_SENSOR_API chrono::sensor::ChSensorManager::ChSensorManager

(

ChSystem *

chrono_system

)

Class constructor.

Parameters

chrono_system

The chrono system with which the sensor manager is associated. Used for time management. created.

Member Function Documentation

AddSensor()

CH_SENSOR_API void chrono::sensor::ChSensorManager::AddSensor

(

std::shared_ptr< ChSensor >

sensor

)

Add a sensor to the manager.

Parameters

sensor

The sensor that should be added to the system

GetDeviceList()

CH_SENSOR_API std::vector< unsigned int > chrono::sensor::ChSensorManager::GetDeviceList

(

)

Get the list of devices that are intended for use.

Returns

List of device IDs that the manager will try to use when rendering.

GetEngine()

CH_SENSOR_API std::shared_ptr< ChOptixEngine > chrono::sensor::ChSensorManager::GetEngine

(

int

context_id

)

Get a pointer to the engine based on the id of the engine.

Parameters

context_id

The ID of the engine to be returned

Returns

A shared pointer to an OptiX engine the manager is using

GetMaxEngines()

int chrono::sensor::ChSensorManager::GetMaxEngines ( )

inline

Get the maximum number of allowed OptiX Engines for the manager.

Returns

An integer specifying the maximum number of engines the manager is allowed to create.

GetNumEngines()

int chrono::sensor::ChSensorManager::GetNumEngines ( )

inline

Get the number of engines the manager is currently using.

Returns

An integer number of OptiX engines

GetRayRecursions()

int chrono::sensor::ChSensorManager::GetRayRecursions ( )

inline

Get the number of recursions used in ray tracing.

Returns

The max number of recursions used in ray tracing

GetSensorList()

std::vector<std::shared_ptr<ChSensor> > chrono::sensor::ChSensorManager::GetSensorList ( )

inline

Get the list of sensors for which this manager is responsible.

Returns

The list of sensors for which the manager is responsible and updates

GetVerbose()

bool chrono::sensor::ChSensorManager::GetVerbose ( )

inline

Get the verbose setting.

Returns

The verbose setting

SetDeviceList()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetDeviceList

(

std::vector< unsigned int >

device_ids

)

Set the list of devices (GPUs) that should be used for rendering.

Parameters

device_ids

List of IDs corresponding to the devices (GPUs) that should be used.

SetMaxEngines()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetMaxEngines

(

int

num_groups

)

Set the maximum number of allowable optix engines.

The manager will spawn up to this number of optix engines (separate threads for rendering) based on the update rate of the sensors. Sensors with similar update rates will be grouped on the same engine to reduce the number of scene updates that are required as this is a major bottleneck in the multithreading paradigm of the render engine.

Parameters

num_groups

The maximum number of optix engines the manager is allowed to create.

SetRayRecursions()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetRayRecursions

(

int

rec

)

Set the number of recursions for ray tracing.

Parameters

rec	The max number of recursions allowed in ray tracing

SetVerbose()

void chrono::sensor::ChSensorManager::SetVerbose ( bool  verbose )

inline

Set if the sensor framework should print all info.

Parameters

verbose

Whether the framework should print info

Member Data Documentation

scene

std::shared_ptr<ChScene> chrono::sensor::ChSensorManager::scene

Public pointer to the scene.

This is used to specify additional componenets include lights, background colors, etc

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

• /builds/uwsbel/chrono/src/chrono_sensor/ChSensorManager.h
• /builds/uwsbel/chrono/src/chrono_sensor/ChSensorManager.cpp