RRROS2EntityStateSensorComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "EngineUtils.h"
 
 
 
// rclUE
 
#include "RRROS2BaseSensorComponent.h"
 
 
 
#include <Msgs/ROS2EntityState.h>
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
 
 
#include "RRROS2EntityStateSensorComponent.generated.h"
 
 
 
DECLARE_MULTICAST_DELEGATE_OneParam(FOnNewReferenceActorDetected, AActor* /* NewReferenceActor */);
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2EntityStateSensorComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRROS2EntityStateSensorComponent();
 
 
 
    void BeginPlay() override;
 
 
 
    virtual void SensorUpdate() override;
 
 
 
 
 
    FString ReferenceActorName = TEXT("");
 
 
 
 
    AActor* ReferenceActor = nullptr;
 
 
 
 
    FTransform OffsetTransform = FTransform::Identity;
 
 
 
    FOnNewReferenceActorDetected OnNewReferenceActorDetected;
 
 
 
 
    virtual void SetReferenceActorByName(const FString& InName);
 
 
 
 
    virtual void SetRootOffset(const FTransform& InRootOffset);
 
 
 
 
    virtual void SetReferenceActorByActor(AActor* InActor);
 
 
 
    // ROS
 
    virtual FROSEntityState GetROS2Data();
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
 
    FROSEntityState Data;
 
 
 
private:
 
 
    FTransform RootOffset = FTransform::Identity;
 
};