OccupancyMapGenerator.h

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#pragma once
 
 
 
#include "CoreMinimal.h"
 
#include "Engine/StaticMeshActor.h"
 
#include "GameFramework/Actor.h"
 
 
 
#include "OccupancyMapGenerator.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API AOccupancyMapGenerator : public AActor
 
{
 
 
 
public:
 
    AOccupancyMapGenerator();
 
 
 
protected:
 
    virtual void BeginPlay() override;
 
 
 
public:
 
 
 
    AStaticMeshActor* Map;
 
 
 
 
 
    float GridRes = 0.05;
 
 
 
 
 
    float MaxVerticalHeight = 10;    // [m]
 
 
 
 
    FString Filename = "ue4_map";
 
 
 
 
    TArray<uint8> OccupancyGrid;
 
 
 
 
    bool WriteToFile(int width, int height, float originx, float originy);
 
};