Kinematic Tricycle Drive component class. More...

#include <RRKinematicTricycleDriveComponent.h>

Inheritance diagram for URRKinematicTricycleDriveComponent:

Collaboration diagram for URRKinematicTricycleDriveComponent:

[legend]

Public Member Functions
void	BeginPlay ()

void	TickComponent (float InDeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction)
	Call UpdateMovement, and UpdateComponentVelocity. More...

void	SetDriveJoints (URRJointComponent InSteeringJoint, URRJointComponent InDriveJoint)

Public Member Functions inherited from URobotVehicleMovementComponent
void	InitAIMovementComp ()
	Init AIMovementComp, which drives the robot kinematically using UE AI Navigation. More...

virtual void	SetUpdatedComponent (USceneComponent *InNewUpdatedComponent) override
	Assign a #USceneComponent as #UpdatedComponent. More...

virtual void	Initialize ()
	Initialize noise and odometry. More...

virtual void	InitData ()
	Call #InitOdom, Calculate MinDistanceToFloor, and. More...

void	SetMovingPlatform (AActor *platform)

bool	IsOnMovingPlatform ()

void	RemoveMovingPlatform ()

Public Attributes
URRJointComponent *	SteeringJoint = nullptr

URRJointComponent *	DriveJoint = nullptr

float	WheelRadius = 12.7f

float	WheelBase = 110.f
	Center of rotation to RearWheel. More...

Public Attributes inherited from URobotVehicleMovementComponent
ARRBaseRobot *	OwnerVehicle = nullptr

TObjectPtr< URRFloatingMovementComponent >	AIMovementComp = nullptr

FVector	AngularVelocity = FVector::ZeroVector
	[deg/s] AngularVelocity control input for [UpdatedComponent] More...

FVector	DesiredMovement = FVector::ZeroVector
	Desired position calculated from deltatime and UpdatedComponent::ComponentVelocity. More...

FQuat	DesiredRotation = FQuat::Identity
	Desired orientation calculated from deltatime and AngularVelocity. More...

float	RayOffsetUp = 10.f
	Ray start Z offset. Value must be > possible penetration of objects in contact point, in one tick. More...

float	RayOffsetDown = 20.f
	Ray end Z offset. More...

bool	bAdaptToSurfaceBelow = true
	to activate/deactivate floor checks to stick the robot on its surface below More...

int8	InversionFactor = 1

float	MinDistanceToFloor = 0.f
	[cm] Z distance between the robot root location and the floor, used when less than 3 contact points are defined More...

float	FallingSpeed = 100.f
	[cm/s] How much the robot falls if no floor beneath ( FallingSpeed * DeltaTime ) More...

URRBaseOdomComponent *	OdomComponent = nullptr
	Odometry source. More...

Protected Attributes
float	PrevWheeAngleRad = 0.f
	[rad] More...

Protected Attributes inherited from URobotVehicleMovementComponent
float	LogLastHit = 0.f
	internal property used to log throttle. More...

Additional Inherited Members
Protected Member Functions inherited from URobotVehicleMovementComponent
virtual bool	IsSupportedForNetworking () const override

virtual void	UpdateMovement (float InDeltaTime)
	Move actor by using SafeMoveUpdatedComponent and SlideAlongSurface. More...

Detailed Description

Kinematic Tricycle Drive component class.

Simulate kinematic tricycle drive by using 2 URRJointComponent SteeringJoint + DriveJoint.

UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))

Member Function Documentation

◆ BeginPlay()

void URRKinematicTricycleDriveComponent::BeginPlay ( )

◆ SetDriveJoints()

void URRKinematicTricycleDriveComponent::SetDriveJoints	(	URRJointComponent *	InSteeringJoint,
		URRJointComponent *	InDriveJoint
	)

UFUNCTION(BlueprintCallable)

◆ TickComponent()

void URRKinematicTricycleDriveComponent::TickComponent	(	float	DeltaTime,
		enum ELevelTick	TickType,
		FActorComponentTickFunction *	ThisTickFunction
	)

virtual

Call UpdateMovement, and UpdateComponentVelocity.

Parameters

DeltaTime
TickType
ThisTickFunction

See also

UpdateComponentVelocity

Reimplemented from URobotVehicleMovementComponent.

Member Data Documentation

◆ DriveJoint

URRJointComponent* URRKinematicTricycleDriveComponent::DriveJoint = nullptr

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PrevWheeAngleRad

float URRKinematicTricycleDriveComponent::PrevWheeAngleRad = 0.f

protected

[rad]

UPROPERTY()

◆ SteeringJoint

URRJointComponent* URRKinematicTricycleDriveComponent::SteeringJoint = nullptr

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ WheelBase

float URRKinematicTricycleDriveComponent::WheelBase = 110.f

Center of rotation to RearWheel.

UPROPERTY(BlueprintReadWrite)

◆ WheelRadius

float URRKinematicTricycleDriveComponent::WheelRadius = 12.7f