RRROS2OverlapSensorComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "EngineUtils.h"
 
 
 
// rclUE
 
#include "RRROS2BaseSensorComponent.h"
 
 
 
#include <Msgs/ROS2OverlapEvent.h>
 
#include <Msgs/ROS2Overlaps.h>
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
 
 
#include "RRROS2OverlapSensorComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2OverlapSensorComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRROS2OverlapSensorComponent();
 
 
 
    virtual void InitalizeWithROS2(UROS2NodeComponent* InROS2Node,
 
                                   const FString& InPublisherName = EMPTY_STR,
 
                                   const FString& InTopicName = EMPTY_STR,
 
                                   const UROS2QoS InQoS = UROS2QoS::SensorData) override;
 
 
 
    void BeginPlay() override;
 
 
 
    virtual void SensorUpdate() override;
 
 
 
 
    TArray<UObject*> TargetObjects;
 
 
 
 
    void AddTarget(UObject* InTargetObject);
 
 
 
 
    void BindCallback(UObject* InTargetObject);
 
 
 
 
 
    void OnOverlap(AActor* OverlappedActor,
 
                   AActor* OtherActor,
 
                   UPrimitiveComponent* OtherComp,
 
                   const bool InBegin,
 
                   const FString& Name = TEXT(""));
 
 
 
 
 
    void OnComponentOverlap(UPrimitiveComponent* OverlappedComponent,
 
                            AActor* OtherActor,
 
                            UPrimitiveComponent* OtherComp,
 
                            int32 OtherBodyIndex,
 
                            const bool InBegin);
 
 
 
 
    virtual void OnTargetComponentBeginOverlap(UPrimitiveComponent* OverlappedComponent,
 
                                               AActor* OtherActor,
 
                                               UPrimitiveComponent* OtherComp,
 
                                               int32 OtherBodyIndex,
 
                                               bool bFromSweep,
 
                                               const FHitResult& SweepResult);
 
 
 
 
    virtual void OnTargetComponentEndOverlap(UPrimitiveComponent* OverlappedComponent,
 
                                             AActor* OtherActor,
 
                                             UPrimitiveComponent* OtherComp,
 
                                             int32 OtherBodyIndex);
 
 
 
 
    void OnTargetActorBeginOverlap(AActor* OverlappedActor, AActor* OtherActor);
 
 
 
 
    void OnTargetActorEndOverlap(AActor* OverlappedActor, AActor* OtherActor);
 
 
 
    // ROS
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
    UROS2Publisher* EventPublisher = nullptr;
 
 
 
 
    FString EventTopicName = TEXT("");
 
 
 
 
 
    FROSOverlapEvent Data;
 
 
 
 
 
    FROSOverlaps Overlaps;
 
 
 
 
 
    bool bIgnoreSelf = true;
 
 
 
 
 
    TArray<UObject*> IgnoreList;
 
 
 
    bool IsIgnore(AActor* SelfActor, AActor* OtherActor, UPrimitiveComponent* OtherComp);
 
};