RRTurtlebotBurger.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Drives/RRDifferentialDriveComponent.h"
 
#include "Drives/RRPhysicsJointComponent.h"
 
#include "Robots/Turtlebot3/TurtlebotBurgerBase.h"
 
 
 
#include "RRTurtlebotBurger.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ARRTurtlebotBurger : public ATurtlebotBurgerBase
 
{
 
 
 
public:
 
    ARRTurtlebotBurger(const FObjectInitializer& ObjectInitializer);
 
 
 
protected:
 
 
    URRPhysicsJointComponent* Base_WheelLeft = nullptr;
 
 
 
 
    URRPhysicsJointComponent* Base_WheelRight = nullptr;
 
 
 
    bool SetupBody() override;
 
 
 
    bool SetupConstraintsAndPhysics() override;
 
 
 
    void SetupWheelDrives() override;
 
};