Taking vehicle motion into account within each scan

[agusorte]

Hello,

I’m using Carla to simulate lidar scans at a rather low frequency, hence that should be distorted due to the vehicle’s motion within each acquired scan. We observed that currently all the points within a scan are acquired from the same vehicle position: indeed, ActorTransf = GetTransform() always returns the same transform in function ARayCastSemanticLidar::ShootLaser() in the same call of RayCastSemanticLidar::SimulateLidar().

Question: if there is a way we can take the vehicle motion into account, so that the ActorTransf can be different for every point within a scan?

Thanks

Agustin