RRKinematicTricycleDriveComponent.h

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#pragma once
 
 
 
#include "CoreMinimal.h"
 
#include "Drives/RRJointComponent.h"
 
#include "Drives/RobotVehicleMovementComponent.h"
 
 
 
#include "RRKinematicTricycleDriveComponent.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogRRKinematicTricycleDriveComponent, Log, All);
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRKinematicTricycleDriveComponent : public URobotVehicleMovementComponent
 
{
 
 
 
public:
 
    void BeginPlay();
 
 
 
    void TickComponent(float InDeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction);
 
 
 
 
    void SetDriveJoints(URRJointComponent* InSteeringJoint, URRJointComponent* InDriveJoint);
 
 
 
 
    URRJointComponent* SteeringJoint = nullptr;
 
 
 
 
    URRJointComponent* DriveJoint = nullptr;
 
 
 
 
    float WheelRadius = 12.7f;
 
 
 
 
 
    float WheelBase = 110.f;
 
 
 
protected:
 
 
 
    float PrevWheeAngleRad = 0.f;
 
};