TurtlebotBurgerBase.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "PhysicsEngine/PhysicsConstraintComponent.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Robots/RRBaseRobot.h"
 
#include "Robots/Turtlebot3/RRTurtlebotROS2Interface.h"
 
#include "Sensors/RR2DLidarComponent.h"
 
 
 
#include "TurtlebotBurgerBase.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogTurtlebotBurger, Log, All);
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ATurtlebotBurgerBase : public ARRBaseRobot
 
{
 
 
 
public:
 
    ATurtlebotBurgerBase(const FObjectInitializer& ObjectInitializer);
 
 
 
protected:
 
    virtual void PostInitializeComponents() override;
 
 
 
    virtual bool SetupBody();
 
 
 
 
    UStaticMeshComponent* Base = nullptr;
 
 
 
 
    UStaticMeshComponent* LidarSensor = nullptr;
 
 
 
 
    URR2DLidarComponent* LidarComponent = nullptr;
 
 
 
 
    UStaticMeshComponent* WheelLeft = nullptr;
 
 
 
 
    UStaticMeshComponent* WheelRight = nullptr;
 
 
 
 
    UStaticMeshComponent* CasterBack = nullptr;
 
 
 
 
    UPhysicsConstraintComponent* Base_LidarSensor = nullptr;
 
 
 
 
    UPhysicsConstraintComponent* Base_CasterBack = nullptr;
 
 
 
 
    float MaxForce = 1000.f;
 
 
 
 
    UMaterial* VehicleMaterial = nullptr;
 
 
 
 
    UMaterial* BallMaterial = nullptr;
 
 
 
 
    uint8 bBodyComponentsCreated : 1;
 
 
 
    virtual bool SetupConstraintsAndPhysics();
 
 
 
    virtual void SetupWheelDrives();
 
 
 
 
 
 
    float WheelRadius = 3.3f;
 
 
 
 
 
 
    float WheelSeparationHalf = 7.9f;
 
};