RR2DLidarComponent.h

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#pragma once
 
 
 
// UE
 
#include "Components/LineBatchComponent.h"
 
#include "CoreMinimal.h"
 
#include "GameFramework/Actor.h"
 
#include "Kismet/KismetMathLibrary.h"
 
#include "PhysicalMaterials/PhysicalMaterial.h"
 
 
 
// rclUE
 
#include "Msgs/ROS2LaserScan.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Sensors/RRBaseLidarComponent.h"
 
 
 
// Others
 
#include <limits>
 
 
 
#include "RR2DLidarComponent.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URR2DLidarComponent : public URRBaseLidarComponent
 
{
 
 
 
public:
 
    URR2DLidarComponent();
 
 
 
    virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
 
 
    void Run() override;
 
 
 
    void SensorUpdate() override;
 
 
 
    bool Visible(AActor* TargetActor) override;
 
 
 
 
    FROSLaserScan GetROS2Data();
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
 
    float GetMinAngleRadians() const;
 
 
 
 
    float GetMaxAngleRadians() const;
 
};