URRROS2EntityStateSensorComponent Class Reference

EntityState sensor components which publish entitystate relative to a specific actor. More...

#include <RRROS2EntityStateSensorComponent.h>

Inheritance diagram for URRROS2EntityStateSensorComponent:

Collaboration diagram for URRROS2EntityStateSensorComponent:

Public Member Functions
	URRROS2EntityStateSensorComponent ()
	Construct a new URRROS2EntityStateSensorComponent object. More...
void	BeginPlay () override
virtual void	SensorUpdate () override
	Calculate relative pose with URRGeneralUtils and update Data. More...
virtual void	SetReferenceActorByName (const FString &InName)
virtual void	SetRootOffset (const FTransform &InRootOffset)
virtual void	SetReferenceActorByActor (AActor *InActor)
virtual FROSEntityState	GetROS2Data ()
	return Data More...
virtual void	SetROS2Msg (UROS2GenericMsg *InMessage) override
	Set result of GetROS2Data to InMessage. More...
Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...
virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""), const UROS2QoS InQoS=UROS2QoS::SensorData)
	Create and initialize publisher and start sensor update by calling. More...
virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...
virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT(""))
	Set publish frequency, topic name and FrameId. More...
virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...
virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...
virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

Public Attributes
FString	ReferenceActorName = TEXT("")
	NOTE: Only URRPoseSensorManager uses ReferenceActor. More...
AActor *	ReferenceActor = nullptr
FTransform	OffsetTransform = FTransform::Identity
FOnNewReferenceActorDetected	OnNewReferenceActorDetected
FROSEntityState	Data
Public Attributes inherited from URRROS2BaseSensorComponent
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()
URRROS2BaseSensorPublisher *	SensorPublisher = nullptr
TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()
FString	TopicName = TEXT("sensor_data")
FString	FrameId = TEXT("sensor_frame")
int32	PublicationFrequencyHz = 30
bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...
bool	bIsValid = true

Private Attributes
FTransform	RootOffset = FTransform::Identity

Additional Inherited Members
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

EntityState sensor components which publish entitystate relative to a specific actor.

Todo:

Currently twist = ZeroVectors. Should be filled for physics actors.

UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

URRROS2EntityStateSensorComponent()

URRROS2EntityStateSensorComponent::URRROS2EntityStateSensorComponent

(

)

Construct a new URRROS2EntityStateSensorComponent object.

Member Function Documentation

BeginPlay()

void URRROS2EntityStateSensorComponent::BeginPlay ( )

override

GetROS2Data()

virtual FROSEntityState URRROS2EntityStateSensorComponent::GetROS2Data ( )

virtual

return Data

Returns

FROSEntityState

UFUNCTION(BlueprintCallable)

SensorUpdate()

virtual void URRROS2EntityStateSensorComponent::SensorUpdate ( )

overridevirtual

Calculate relative pose with URRGeneralUtils and update Data.

Todo:

Currently twist = ZeroVectors. Should be filled for physics actors.

Reimplemented from URRROS2BaseSensorComponent.

Reimplemented in URRPoseSensorManager.

SetReferenceActorByActor()

virtual void URRROS2EntityStateSensorComponent::SetReferenceActorByActor ( AActor *  InActor )

virtual

UFUNCTION(BlueprintCallable)

SetReferenceActorByName()

virtual void URRROS2EntityStateSensorComponent::SetReferenceActorByName ( const FString &  InName )

virtual

UFUNCTION(BlueprintCallable)

SetRootOffset()

virtual void URRROS2EntityStateSensorComponent::SetRootOffset ( const FTransform &  InRootOffset )

virtual

UFUNCTION(BlueprintCallable)

SetROS2Msg()

virtual void URRROS2EntityStateSensorComponent::SetROS2Msg ( UROS2GenericMsg *  InMessage )

overridevirtual

Set result of GetROS2Data to InMessage.

Parameters

InMessage

Reimplemented from URRROS2BaseSensorComponent.

Member Data Documentation

Data

FROSEntityState URRROS2EntityStateSensorComponent::Data

UPROPERTY(BlueprintReadWrite)

OffsetTransform

FTransform URRROS2EntityStateSensorComponent::OffsetTransform = FTransform::Identity

UPROPERTY(EditAnywhere, BlueprintReadWrite)

OnNewReferenceActorDetected

FOnNewReferenceActorDetected URRROS2EntityStateSensorComponent::OnNewReferenceActorDetected

ReferenceActor

AActor* URRROS2EntityStateSensorComponent::ReferenceActor = nullptr

UPROPERTY(EditAnywhere, BlueprintReadOnly)

ReferenceActorName

FString URRROS2EntityStateSensorComponent::ReferenceActorName = TEXT("")

NOTE: Only URRPoseSensorManager uses ReferenceActor.

UPROPERTY(EditAnywhere, BlueprintReadOnly)

RootOffset

FTransform URRROS2EntityStateSensorComponent::RootOffset = FTransform::Identity

private

UPROPERTY()

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

• /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2EntityStateSensorComponent.h