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Unity/AirLibWrapper/AirsimWrapper/Source/UnitySensors/UnitySensorFactory.cpp
28 строк
914 B
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15
d53c5a2
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#include "UnitySensorFactory.h" #include "UnityDistanceSensor.h" UnitySensorFactory::UnitySensorFactory(std::string vehicle_name, const NedTransform* ned_transform) { setActor(vehicle_name, ned_transform); } void UnitySensorFactory::setActor(std::string vehicle_name, const NedTransform* ned_transform) { vehicle_name_ = vehicle_name; ned_transform_ = ned_transform; } std::shared_ptr<msr::airlib::SensorBase> UnitySensorFactory::createSensorFromSettings(const AirSimSettings::SensorSetting* sensor_setting) const { using SensorBase = msr::airlib::SensorBase; switch (sensor_setting->sensor_type) { case SensorBase::SensorType::Distance: return std::make_shared<UnityDistanceSensor>(vehicle_name_, ned_transform_); default: return msr::airlib::SensorFactory::createSensorFromSettings(sensor_setting); } return std::shared_ptr<msr::airlib::SensorBase>(); }