Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import torch
from dataclasses import dataclass
[docs]@dataclass
class RayCasterData:
"""Data container for the ray-cast sensor."""
pos_w: torch.Tensor = None
"""Position of the sensor origin in world frame.
Shape is (N, 3), where N is the number of sensors.
"""
quat_w: torch.Tensor = None
"""Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.
Shape is (N, 4), where N is the number of sensors.
"""
ray_hits_w: torch.Tensor = None
"""The ray hit positions in the world frame.
Shape is (N, B, 3), where N is the number of sensors, B is the number of rays
in the scan pattern per sensor.
"""