RRROS2HitSensorComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "EngineUtils.h"
 
 
 
// rclUE
 
#include "RRROS2BaseSensorComponent.h"
 
 
 
#include <Msgs/ROS2HitEvent.h>
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
 
 
#include "RRROS2HitSensorComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2HitSensorComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRROS2HitSensorComponent()
 
    {
 
        // ROS 2 param
 
        TopicName = TEXT("collisions");
 
        MsgClass = UROS2HitEventMsg::StaticClass();
 
        PublicationFrequencyHz = 0;    //Event based trigger
 
    }
 
 
 
    void BeginPlay() override;
 
 
 
 
 
 
    TArray<UObject*> TargetObjects;
 
 
 
 
 
    virtual void BindCallback(UObject* InTargetObject);
 
 
 
 
 
 
    virtual void OnHit(AActor* SelfActor,
 
                       AActor* OtherActor,
 
                       FVector NormalImpulse,
 
                       const FHitResult& Hit,
 
                       const FString& Name = TEXT(""));
 
 
 
 
    virtual void OnTargetComponentHit(UPrimitiveComponent* HitComp,
 
                                      AActor* OtherActor,
 
                                      UPrimitiveComponent* OtherComp,
 
                                      FVector NormalImpulse,
 
                                      const FHitResult& Hit);
 
 
 
 
    virtual void OnTargetActorHit(AActor* SelfActor, AActor* OtherActor, FVector NormalImpulse, const FHitResult& Hit);
 
 
 
    // ROS
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
 
    FROSHitEvent Data;
 
 
 
 
 
    bool bIgnoreSelf = true;
 
 
 
 
 
    TArray<UObject*> IgnoreList;
 
 
 
    bool IsIgnore(AActor* SelfActor, AActor* OtherActor, UPrimitiveComponent* OtherComp);
 
};