Class in Zendir.Classes | Inherits from PhysicalObject
Declaration
class RADAR;Description
The RADAR class is able to detect the presence of objects within the simulation by using ray-casts simulated within the Unreal Engine. It can produce maps of the objects around by simulating radio wave transmission and reflection.
Properties
| Declared | Description |
|---|---|
| Bandwidth | The bandwidth of the RADAR signal, which is measured in Hz |
| CaptureOnTick | A flag whether the sensor should capture the data each frame. |
| DetectionThreshold | The detection threshold of the RADAR system, which is used to determinethe minimum signal strength required to detect an object. |
| DistanceNoise | The noise for calculating the distance to the target, as a fraction of the distance. |
| FOV | The field of view of the radar |
| Gain | The antenna gain of the RADAR in decibels |
| In_DeviceStatusMsg | The Device status message for the physical component whetherthe device is available. |
| IsDetected | A boolean value indicating if a target has been detected by the RADAR sensor,based on the signal to noise ratio and the sensor’s detection threshold. |
| NumTargets | The number of targets that the RADAR sensor can see. |
| Out_RADARDataMsg | The RADAR data message that is output by the RADAR sensor. |
| Power | The transmitter power when sending a signal |
| SignalDistance | The estimated distance to the target detected by the RADAR sensor. |
| SignalToNoise | The signal to noise of the RADAR sensor, calculated as the total signaldivided by the total noise. |
| Temperature | The temperature of the RADAR system, which is used to calculatethe noise floor of the system. |
| TotalNoise | The total noise of the RADAR sensor. |
| TotalSignal | The total signal of the RADAR sensor, which is the sum of all target signals. |
| Wavelength | The wavelength of the RADAR signal, typically an X-band wavelength willbe sub-meter, while a L-band wavelength will be in the meter range. |
| Inherited | Description |
|---|---|
| Behaviours | A collection of behaviours attached to this object. |
| CenterOfMassB_B | The center of mass of the component in respect to the bodyframe (B) of the component. This is isolated from any childrenand exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative tothe body frame (B). This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relativeto the body frame (B). This does not include any of the sub-componentsand exists in isolation. |
| Children | A collection of children attached to this object. |
| DCM_BN | The rotational DCM matrix between the body frame (B) at the topof this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of thisobject (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to theinertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), takenfrom the Component Transform (PL). |
| IsEnabled | Is true if the object is currently enabled. |
| LocalForward | The direction of the transform frame’s forward vector, which is along the Y axis. |
| LocalRight | The direction of the transform frame’s right vector, which is along the X axis. |
| LocalUp | The direction of the transform frame’s up vector, which is along the Z axis. |
| Mass | The component mass defined in the object. This is independentof any parent or children objects and exists in isolation. |
| MassDot | The component mass time-derivative defined in the object. Thisis independent of any parent or children objects and exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at thelocal center of mass, represented with its own local coordinates.This does not include any of the sub-components and exists inisolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured inthe body frame relative to the parented body. This is independentof any children and exists in isolation. |
| MomentOfInertiaPrime_LB | The derivative of the moment of inertia of the component,measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component,represented in the body frame (B). This is independent and exists inisolation. |
| Name | The display name or tag of this object. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties andstates of the system within this component locally. This is independentof any parent or children properties or objects. |
| Out_TransformMsg | This defines the base transform message that stores the state of the transform of this object. |
| Parent | The currently attached parent object (if any). |
| Position | [m] The position of the object relative to the parent or to world origin, if no parent exists. |
| Position_BN_N | The position of the body (the root parent B) in theinertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the rootobject of this hierarchy. This is in the inertial frameand if the component is the root object, then there willbe no position. |
| Position_LN_N | The position of the inertial world space. This position isderived from the world’s transform (N). |
| Position_LP_P | The position of the object relative to the parented object (P).If there is no parent object, then this will be in the inertialframe. |
| Root | The root object in the parent chain. |
| Rotation | [-] The rotation of the object relative to the parent or to the world origin, if no parent exists. |
| Thermal | A reference to the thermal model that is attached to this object.This will allow the object to have thermal properties and be ableto be used in thermal simulations. |
Methods
| Declared | Description |
|---|---|
| AddTarget | Adds a target to the list of targets that the RADAR sensor can sense. Thiswill create a new target with the specified parameters. |
| Capture | A method that will capture the data of the payload and store it insome form of byte array. |
| ClearBuffer | Clears the cache of the RADAR sensor, which will remove all datafrom the output message. |
| RemoveTarget | Removes a target from the list of targets that the RADAR sensor can see. |
| Inherited | Description |
|---|---|
| AddObject | Returns a new simulation object with the specified type. |
| Attach | Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object. |
| ContainsModelWithID | Returns true if an attached model satisfies the specified ID. |
| ContainsModelWithType | Returns true if an attached model satisfies the specified type. |
| Destroy | Removes the current object from the simulation. |
| Detach | This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation. |
| FindBehavioursWithType | Returns all attached behaviours that satisfies the specified type. |
| FindBehaviourWithID | Returns an attached behaviour that satisfies the specified ID. |
| FindBehaviourWithType | Returns an attached behaviour that satisfies the specified type. |
| FindChildrenWithType | Returns all attached children that satisfies the specified type. |
| FindChildWithID | Returns an attached child that satisfies the specified ID. |
| FindChildWithType | Returns an attached child that satisfies the specified type. |
| FindModelsWithType | Returns all attached models that satisfies the specified type. |
| FindModelWithID | Returns an attached model that satisfies the specified ID. |
| FindModelWithType | Returns an attached model that satisfies the specified type. |
| FindParentWithID | Returns an attached parent that satisfies the specified ID. |
| FindParentWithType | Returns an attached parent that satisfies the specified type. |
| FindRootWithID | Returns a root object that satisfies the specified ID. |
| FindRootWithType | Returns a root object that satisfies the specified type. |
| GetModel | Returns a valid assigned model with the specified type. |
| GetWorldTransform | Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so thatit has been read successfully and is valid. |
| UpdateMassProperties | Updates the mass properties of the current physical object ata particular time. |