DifferentialDriveComponentBase.h

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#pragma once
 
 
 
#include "CoreMinimal.h"
 
#include "Drives/RobotVehicleMovementComponent.h"
 
#include "PhysicsEngine/PhysicsConstraintComponent.h"
 
 
 
#include <random>
 
 
 
#include "DifferentialDriveComponentBase.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogDifferentialDriveComponent, Log, All);
 
 
 
enum class EDiffDriveWheel : uint8
 
{
 
    RIGHT , 
 
    LEFT , 
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API UDifferentialDriveComponentBase : public URobotVehicleMovementComponent
 
{
 
 
 
public:
 
    virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
 
 
    virtual void UpdateMovement(float DeltaTime) override;
 
 
 
    virtual void UpdateOdom(float DeltaTime);
 
 
 
    virtual float GetWheelVelocity(const EDiffDriveWheel WheelIndex);
 
 
 
    virtual void Initialize() override;
 
 
 
    void SetPerimeter();
 
 
 
 
 
    float WheelRadius = 1.f;
 
 
 
 
 
    float WheelSeparationHalf = 1.f;
 
 
 
 
 
    float MaxForce = 1000.f;
 
 
 
protected:
 
 
 
    float WheelPerimeter = 6.28f;
 
 
 
 
 
    float PoseEncoderX = 0.f;
 
 
 
    float PoseEncoderY = 0.f;
 
 
 
    float PoseEncoderThetaRad = 0.f;
 
};