RR3DLidarComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "GameFramework/Actor.h"
 
 
 
// rclUE
 
#include "Msgs/ROS2PointCloud2.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Sensors/RRBaseLidarComponent.h"
 
 
 
#include "RR3DLidarComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URR3DLidarComponent : public URRBaseLidarComponent
 
{
 
 
 
public:
 
    URR3DLidarComponent();
 
 
 
    virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
 
 
    void Run() override;
 
 
 
    void SensorUpdate() override;
 
 
 
    bool Visible(AActor* TargetActor) override;
 
 
 
    FROSPointCloud2 GetROS2Data();
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
    // vertical samples
 
 
    int32 NChannelsPerScan = 32;
 
 
 
    uint64 GetTotalScan() const
 
    {
 
        return NSamplesPerScan * NChannelsPerScan;
 
    }
 
 
 
 
 
    float StartVerticalAngle = -45.f;
 
 
 
 
 
    float FOVVertical = 90.f;
 
 
 
 
 
 
 
    bool bOrganizedCloud = false;
 
 
 
 
 
    float DVAngle = 0.f;
 
};