Publish overlappping acotors and components and begin/end event. More...

#include <RRROS2OverlapSensorComponent.h>

Inheritance diagram for URRROS2OverlapSensorComponent:

Collaboration diagram for URRROS2OverlapSensorComponent:

[legend]

Public Member Functions
	URRROS2OverlapSensorComponent ()
	Construct a new URRROS2OverlapSensorComponent object. More...

virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=EMPTY_STR, const FString &InTopicName=EMPTY_STR, const UROS2QoS InQoS=UROS2QoS::SensorData) override
	Initialize EventPublisher and SensorPublisher. More...

void	BeginPlay () override

virtual void	SensorUpdate () override
	Update Overlaps by GetOverlappingComponents and GetOverlappingActors of TargetObjects. More...

void	AddTarget (UObject *InTargetObject)
	Add name of TargetObject to Overlaps and BindCallback. More...

void	BindCallback (UObject *InTargetObject)
	Bind OnComponentBeginOverlap. OnComponentEndOverlap, OnActorBeginOverlap and OnActorEndOverlap. More...

void	OnOverlap (AActor OverlappedActor, AActor OtherActor, UPrimitiveComponent *OtherComp, const bool InBegin, const FString &Name=TEXT(""))
	Common overlap process called from OnComponentOverlap, OnTargetActorBeginOverlap and OnTargetActorEndOverlap. More...

void	OnComponentOverlap (UPrimitiveComponent OverlappedComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, int32 OtherBodyIndex, const bool InBegin)
	Common component overlap process called from OnTargetComponentBeginOverlap and OnTargetComponentEndOverlap. More...

virtual void	OnTargetComponentBeginOverlap (UPrimitiveComponent OverlappedComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, int32 OtherBodyIndex, bool bFromSweep, const FHitResult &SweepResult)

virtual void	OnTargetComponentEndOverlap (UPrimitiveComponent OverlappedComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, int32 OtherBodyIndex)

void	OnTargetActorBeginOverlap (AActor OverlappedActor, AActor OtherActor)

void	OnTargetActorEndOverlap (AActor OverlappedActor, AActor OtherActor)

virtual void	SetROS2Msg (UROS2GenericMsg *InMessage) override
	Set result of #GetROS2Data to InMessage. More...

bool	IsIgnore (AActor SelfActor, AActor OtherActor, UPrimitiveComponent *OtherComp)

Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...

virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...

virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT(""))
	Set publish frequency, topic name and FrameId. More...

virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...

virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...

virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

Public Attributes
TArray< UObject * >	TargetObjects

UROS2Publisher *	EventPublisher = nullptr
	Publisher for begin/end overlapping event. More...

FString	EventTopicName = TEXT("")

FROSOverlapEvent	Data
	Overlap Event data. More...

FROSOverlaps	Overlaps
	List of Overlapping Actors and Components. More...

bool	bIgnoreSelf = true
	Ignore collision with Owner Actor or self component. More...

TArray< UObject * >	IgnoreList
	List of object which collide with are ignored. More...

Public Attributes inherited from URRROS2BaseSensorComponent
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()

URRROS2BaseSensorPublisher *	SensorPublisher = nullptr

TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()

FString	TopicName = TEXT("sensor_data")

FString	FrameId = TEXT("sensor_frame")

int32	PublicationFrequencyHz = 30

bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...

bool	bIsValid = true

Additional Inherited Members
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

Publish overlappping acotors and components and begin/end event.

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

Constructor & Destructor Documentation

◆ URRROS2OverlapSensorComponent()

URRROS2OverlapSensorComponent::URRROS2OverlapSensorComponent ( )

Construct a new URRROS2OverlapSensorComponent object.

Member Function Documentation

◆ AddTarget()

void URRROS2OverlapSensorComponent::AddTarget ( UObject * InTargetObject )

Add name of TargetObject to Overlaps and BindCallback.

◆ BeginPlay()

void URRROS2OverlapSensorComponent::BeginPlay ( )

override

◆ BindCallback()

void URRROS2OverlapSensorComponent::BindCallback ( UObject * InTargetObject )

Bind OnComponentBeginOverlap. OnComponentEndOverlap, OnActorBeginOverlap and OnActorEndOverlap.

◆ InitalizeWithROS2()

virtual void URRROS2OverlapSensorComponent::InitalizeWithROS2	(	UROS2NodeComponent *	InROS2Node,
		const FString &	InPublisherName = `EMPTY_STR`,
		const FString &	InTopicName = `EMPTY_STR`,
		const UROS2QoS	InQoS = `UROS2QoS::SensorData`
	)

overridevirtual

Initialize EventPublisher and SensorPublisher.

Parameters

InROS2Node
InPublisherName
InTopicName
InQoS

Reimplemented from URRROS2BaseSensorComponent.

◆ IsIgnore()

bool URRROS2OverlapSensorComponent::IsIgnore	(	AActor *	SelfActor,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp
	)

◆ OnComponentOverlap()

void URRROS2OverlapSensorComponent::OnComponentOverlap	(	UPrimitiveComponent *	OverlappedComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		int32	OtherBodyIndex,
		const bool	InBegin
	)

Common component overlap process called from OnTargetComponentBeginOverlap and OnTargetComponentEndOverlap.

Fill data and call OnOverlap

◆ OnOverlap()

void URRROS2OverlapSensorComponent::OnOverlap	(	AActor *	OverlappedActor,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		const bool	InBegin,
		const FString &	Name = `TEXT("")`
	)

Common overlap process called from OnComponentOverlap, OnTargetActorBeginOverlap and OnTargetActorEndOverlap.

Fill data and publish topic.

◆ OnTargetActorBeginOverlap()

void URRROS2OverlapSensorComponent::OnTargetActorBeginOverlap	(	AActor *	OverlappedActor,
		AActor *	OtherActor
	)

UFUNCTION()

◆ OnTargetActorEndOverlap()

void URRROS2OverlapSensorComponent::OnTargetActorEndOverlap	(	AActor *	OverlappedActor,
		AActor *	OtherActor
	)

UFUNCTION()

◆ OnTargetComponentBeginOverlap()

virtual void URRROS2OverlapSensorComponent::OnTargetComponentBeginOverlap	(	UPrimitiveComponent *	OverlappedComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		int32	OtherBodyIndex,
		bool	bFromSweep,
		const FHitResult &	SweepResult
	)

virtual

UFUNCTION()

◆ OnTargetComponentEndOverlap()

virtual void URRROS2OverlapSensorComponent::OnTargetComponentEndOverlap	(	UPrimitiveComponent *	OverlappedComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		int32	OtherBodyIndex
	)

virtual

UFUNCTION()

◆ SensorUpdate()

virtual void URRROS2OverlapSensorComponent::SensorUpdate ( )

overridevirtual

Update Overlaps by GetOverlappingComponents and GetOverlappingActors of TargetObjects.

Reimplemented from URRROS2BaseSensorComponent.

◆ SetROS2Msg()

virtual void URRROS2OverlapSensorComponent::SetROS2Msg ( UROS2GenericMsg * InMessage )

overridevirtual

Set result of #GetROS2Data to InMessage.

Parameters

InMessage

Reimplemented from URRROS2BaseSensorComponent.

Member Data Documentation

◆ bIgnoreSelf

bool URRROS2OverlapSensorComponent::bIgnoreSelf = true

Ignore collision with Owner Actor or self component.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Data

FROSOverlapEvent URRROS2OverlapSensorComponent::Data

Overlap Event data.

UPROPERTY(BlueprintReadWrite)

◆ EventPublisher

UROS2Publisher* URRROS2OverlapSensorComponent::EventPublisher = nullptr

Publisher for begin/end overlapping event.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ EventTopicName

FString URRROS2OverlapSensorComponent::EventTopicName = TEXT("")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ IgnoreList

TArray<UObject*> URRROS2OverlapSensorComponent::IgnoreList

List of object which collide with are ignored.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Overlaps

FROSOverlaps URRROS2OverlapSensorComponent::Overlaps

List of Overlapping Actors and Components.

UPROPERTY(BlueprintReadWrite)

◆ TargetObjects

TArray<UObject*> URRROS2OverlapSensorComponent::TargetObjects

UPROPERTY(EditAnywhere, BlueprintReadWrite)

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2OverlapSensorComponent.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ URRROS2OverlapSensorComponent()

Member Function Documentation

◆ AddTarget()

◆ BeginPlay()

◆ BindCallback()

◆ InitalizeWithROS2()

◆ IsIgnore()

◆ OnComponentOverlap()

◆ OnOverlap()

◆ OnTargetActorBeginOverlap()

◆ OnTargetActorEndOverlap()

◆ OnTargetComponentBeginOverlap()

◆ OnTargetComponentEndOverlap()

◆ SensorUpdate()

◆ SetROS2Msg()

Member Data Documentation

◆ bIgnoreSelf

◆ Data

◆ EventPublisher

◆ EventTopicName

◆ IgnoreList

◆ Overlaps

◆ TargetObjects