RRPoseSensorManager.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRActorCommon.h"
 
#include "Sensors/RRROS2EntityStateSensorComponent.h"
 
#include "Tools/SimulationState.h"
 
 
 
#include "RRPoseSensorManager.generated.h"
 
 
 
enum class ERRRefActorSelectMode : uint8
 
{
 
    MANUAL , 
 
    AUTO , 
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRPoseSensorManager : public URRROS2EntityStateSensorComponent
 
{
 
 
 
public:
 
    URRPoseSensorManager();
 
 
 
 
 
    ASimulationState* ServerSimState = nullptr;
 
 
 
    virtual void GetLifetimeReplicatedProps(TArray<FLifetimeProperty>& OutLifetimeProps) const override;
 
 
 
    virtual void InitalizeWithROS2(UROS2NodeComponent* InROS2Node,
 
                                   const FString& InPublisherName = EMPTY_STR,
 
                                   const FString& InTopicName = EMPTY_STR,
 
                                   const UROS2QoS InQoS = UROS2QoS::SensorData) override;
 
 
 
    virtual void SensorUpdate() override;
 
 
 
    virtual void UpdateReferenceActorWithTag();
 
 
 
 
 
    FString ReferenceTag = URRActorCommon::MAP_ORIGIN_TAG;
 
 
 
 
 
    ERRRefActorSelectMode RefActorSelectMode = ERRRefActorSelectMode::AUTO;
 
 
 
 
 
    FString MapFrameId = URRActorCommon::MAP_ROS_FRAME_ID;
 
 
 
 
 
    URRROS2EntityStateSensorComponent* MapOriginPoseSensor = nullptr;
 
 
 
protected:
 
    virtual void OnComponentCreated() override;
 
};