RRBaseOdomComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRActorCommon.h"
 
#include "Sensors/RRROS2EntityStateSensorComponent.h"
 
#include "Tools/RRROS2OdomPublisher.h"
 
#include "Tools/SimulationState.h"
 
 
 
#include "RRBaseOdomComponent.generated.h"
 
 
 
class ARRBaseRobot;
 
 
 
enum class EOdomSource : uint8
 
{
 
    WORLD , 
 
    ENCODER , 
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRBaseOdomComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRBaseOdomComponent();
 
 
 
    virtual void SensorUpdate() override;
 
 
 
    virtual void PreInitializePublisher(UROS2NodeComponent* InROS2Node, const FString& InTopicName) override;
 
 
 
 
    TWeakObjectPtr<ARRBaseRobot> RobotVehicle = nullptr;
 
 
 
 
 
 
 
    bool bManualUpdate = false;
 
 
 
 
    FROSOdom OdomData;
 
 
 
 
 
    FString ChildFrameId = TEXT("base_footprint");
 
 
 
    void SetFrameIds(const FString& InFrameId, const FString& InChildFrameId);
 
 
 
 
    FTransform InitialTransform = FTransform::Identity;
 
 
 
 
    FTransform GetOdomTF() const;
 
 
 
 
    virtual void InitOdom();
 
 
 
 
    EOdomSource OdomSource = EOdomSource::WORLD;
 
 
 
    virtual void UpdateOdom(float InDeltaTime);
 
 
 
 
 
 
    bool bPublishOdomTf = false;
 
 
 
 
    bool bIsOdomInitialized = false;
 
 
 
 
 
    FTransform RootOffset = FTransform::Identity;
 
 
 
 
    TObjectPtr<URRGaussianNoise> PositionNoise;
 
 
 
 
    TObjectPtr<URRGaussianNoise> RotNoise;
 
 
 
 
    float NoiseMeanPosition = 0.f;
 
 
 
 
    float NoiseVariancePosition = 0.001f;
 
 
 
 
    float NoiseMeanRot = 0.f;
 
 
 
 
    float NoiseVarianceRot = 0.005f;
 
 
 
 
 
    bool bWithNoise = true;
 
 
 
protected:
 
    float LastUpdatedTime = 0.f;
 
 
 
 
    FTransform PreviousTransform = FTransform::Identity;
 
 
 
 
    FTransform PreviousNoisyTransform = FTransform::Identity;
 
};