Example of child class of ARRBaseRobot. More...
#include <TurtlebotBurger.h>
Inheritance diagram for ATurtlebotBurger:
Collaboration diagram for ATurtlebotBurger:
Public Member Functions | |
| ATurtlebotBurger (const FObjectInitializer &ObjectInitializer) | |
| Construct a new ATurtlebotBurger object. Calls SetupBody. More... | |
 Public Member Functions inherited from ATurtlebotBurgerBase | |
| ATurtlebotBurgerBase (const FObjectInitializer &ObjectInitializer) | |
| Construct a new ATurtlebotBurgerBase object. Calls SetupBody. More... | |
| Public Member Functions inherited from ARRBaseRobot | |
| ARRBaseRobot () | |
| Construct a new ARRBaseRobot object. More... | |
| ARRBaseRobot (const FObjectInitializer &ObjectInitializer) | |
| Construct a new ARRBaseRobot object. More... | |
| virtual void | BeginPlay () override |
| BeginPlay. More... | |
| virtual void | Tick (float DeltaSeconds) override |
| Wake rigid body in addition to Super::Tick() More... | |
| void | SetupDefault () |
| Initialize default components being configurable in child BP classes. More... | |
| virtual void | SetRootOffset (const FTransform &InRootOffset) |
| Set the root offset for RobotVehicleMoveComponent. More... | |
| FORCEINLINE bool | IsDynamicRuntimeRobot () const |
| DynamicRuntime robot: Implemented purely in cpp, built & loaded up at runtime from raw CAD + metadata (URDF/SDF) More... | |
| FORCEINLINE bool | IsStaticBPRobot () const |
| Static BP robot: implemented in BP, possibly inheriting from #ARBaseRobot or its children classes,. More... | |
| FString | GetDynamicResourceName (const ERRResourceDataType InDataType) const |
| Get name of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.) More... | |
| FString | GetDynamicResourceAssetPath (const ERRResourceDataType InDataType) const |
| Get UE asset path of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.) More... | |
| virtual void | OnRep_ROS2Interface () |
| Function called with ROS2Interface replication. Start ROS2Interface if bStartStopROS2Interface=true. More... | |
| virtual void | OnRep_bStartStopROS2Interface () |
| Function called with bStartStopROS2Interface replication. Start/stop ROS2Interface if it is ready. More... | |
| bool | IsAuthorizedInThisClient () |
| Check necessary variables has initialized and PlayerId which spawned robot is match to this client PlayerId. More... | |
| void | CreateROS2Interface () |
| Instantiate ROS 2 Interface without initializing yet. More... | |
| void | InitROS2Interface () |
| Initialize ROS 2 Interface. Directly call URRRobotROS2Interface::Initialize or execute in client via OnRep_bStartStopROS2Interface. More... | |
| bool | InitROS2InterfaceImpl () |
| void | DeInitROS2Interface () |
| Stop ROS 2 Interface. Directly call URRRobotROS2Interface::DeInitialize or execute in client via OnRep_bStartStopROS2Interface. More... | |
| void | SetRobotName (const FString &InRobotName) |
| Set robot unique name. More... | |
| virtual void | SetRobotModelName (const FString InName) |
| virtual FString | GetRobotModelName () |
| FORCEINLINE bool | IsBuiltInRobotModel () const |
| Is static built robot model by the Editor. More... | |
| uint64 | GetRobotID () const |
| Get robot ID. More... | |
| void | SetRobotID (uint64 InRobotID) |
| Set robot ID. More... | |
| virtual bool | AddLink (const FString &InLinkName, UStaticMeshComponent *InMesh) |
| Add UStaticMeshComponent to Links. More... | |
| void | SetBaseMeshComp (UMeshComponent *InBaseMeshComp, bool bInMakeAsRoot=true, bool bInDestroyDefaultRoot=true) |
| Set BaseMeshComp, optionally making it the new Root, replacing DefaultRoot. More... | |
| virtual bool | AddJoint (const FString &InParentLinkName, const FString &InChildLinkName, const FString &InJointName, URRJointComponent *InJoint) |
| Add URRJointComponent to Joints and set Joint's parent and child link from name in Links. More... | |
| virtual void | StartJointsInitialization () |
| virtual void | CheckJointsInitialization () |
| virtual void | SetChildComponentsCollisionEnabled (const bool IsEnable) |
| Set the ChildComponents Collision Enabled. More... | |
| virtual bool | InitSensors (UROS2NodeComponent *InROS2Node) |
| Initialize sensors components which are child class of URRROS2BaseSensorComponent. More... | |
| virtual void | GetLifetimeReplicatedProps (TArray< FLifetimeProperty > &OutLifetimeProps) const override |
| Returns the properties used for network replication, this needs to be overridden by all actor classes with native. More... | |
| virtual bool | ReplicateSubobjects (UActorChannel *Channel, FOutBunch *Bunch, FReplicationFlags *RepFlags) override |
| Allows a component to replicate other subobject on the actor. More... | |
| virtual void | SetJointState (const TMap< FString, TArray< float >> &InJointState, const ERRJointControlType InJointControlType) |
| Set Joints state to Joints. More... | |
| virtual void | StopMovement () |
| Stop robot movement, resetting all vel inputs. More... | |
| virtual void | SetMoveComponent (UMovementComponent *InMoveComponent) |
| virtual void | SetLinearVel (const FVector &InLinearVel) |
| Set velocity to RobotVehicleMoveComponent. More... | |
| virtual void | SetAngularVel (const FVector &InAngularVel) |
| Set angular velocity to RobotVehicleMoveComponent. More... | |
| virtual void | SyncServerLinearMovement (float InClientTimeStamp, const FTransform &InClientRobotTransform, const FVector &InLinearVel) |
| Set position and linear velocity to the robot in the server. More... | |
| virtual void | SyncServerAngularMovement (float InClientTimeStamp, const FRotator &InClientRobotRotation, const FVector &InAngularVel) |
| Set rotation and angular velocity to the robot in the server. More... | |
| virtual void | SetLocalLinearVel (const FVector &InLinearVel) |
| Set linear velocity to RobotVehicleMoveComponent in the client. More... | |
| virtual void | SetLocalAngularVel (const FVector &InAngularVel) |
| Set angular velocity to RobotVehicleMoveComponent in the client. More... | |
| void | BPConfigureMovementComponent () |
| This method is called inside PostInitializeComponents. More... | |
| bool | CheckUIUserWidget () const |
| Check whether #UIUserWidget is valid. More... | |
| virtual bool | InitPropertiesFromJSON () |
| Parse Json parameters in ROSSpawnParameters. More... | |
| void | BPInitPropertiesFromJSON () |
| This method is called inside PreInitializeComponents. More... | |
| virtual void | ConfigureMovementComponent () |
| Calls both InitPropertiesFromJSON and BPInitPropertiesFromJSON. More... | |
| virtual void | InitUIWidget () |
| Create & init UIWidgetComp. More... | |
| virtual bool | InitPropertiesFromJSONAll () |
| Public Member Functions inherited from ARRBaseActor | |
| ARRBaseActor () | |
| Construct a new ARRBaseActor object. More... | |
| ARRBaseActor (const FObjectInitializer &ObjectInitializer) | |
| Construct a new ARRBaseActor object. More... | |
| void | SetupDefaultBase () |
| Initialize default components being configurable in child BP classes. More... | |
| void | SetEntityModelName (const FString &InEntityModelName) |
| bool | IsDataSynthEntity () const |
| template<typename TActorSpawnInfo > | |
| bool | InitializeWithSpawnInfo (const TActorSpawnInfo &InActorInfo) |
| ACTOR INTIALIZING GENERAL INFO (Unique name, mesh list, material list, etc.) More... | |
| virtual bool | Initialize () |
| Set #GameMode #GameState #GameSingleton #PlayerController. More... | |
| virtual bool | HasInitialized (bool bIsLogged=false) const |
| virtual void | Reset () |
| Rest. Calls #ActorInfo::ClearMeshInfo. More... | |
| void | SetTickEnabled (bool bInIsTickEnabled) |
| Use URRUObjectUtils::SetupActorTick. More... | |
Protected Member Functions | |
| bool | SetupBody () override |
| Create UStaticMeshComponent, create UPhysicsConstraintComponent. More... | |
| bool | SetupConstraintsAndPhysics () override |
| Setup material, relative location, anugular/linear limits, drive params. More... | |
| void | SetupWheelDrives () override |
| Setup UDifferentialDriveComponent. More... | |
| Protected Member Functions inherited from ATurtlebotBurgerBase | |
| virtual void | PostInitializeComponents () override |
| calls SetupWheelDrives More... | |
| Protected Member Functions inherited from ARRBaseRobot | |
| virtual void | PreInitializeComponents () override |
| Instantiate default child components. More... | |
| virtual bool | InitMoveComponent () |
| Create and Initialize MovementComponent if VehicleMoveComponentClass != nullptr. More... | |
| void | BPPreInitializeComponents () |
| This method is called inside PreInitializeComponents. More... | |
| void | BPPostInitializeComponents () |
| This method is called inside PreInitializeComponents. More... | |
| Protected Member Functions inherited from ARRBaseActor | |
| virtual void | PrintSimConfig () const |
| Print class members' values configured in RapyutaSimSettings.ini. More... | |
| virtual void | DoGlobalConfig () |
| Globally config custom setups (eg. Exec() cmds) applied for all instances of this class. More... | |
Protected Attributes | |
| UPhysicsConstraintComponent * | Base_WheelLeft = nullptr |
| UPhysicsConstraintComponent * | Base_WheelRight = nullptr |
| Protected Attributes inherited from ATurtlebotBurgerBase | |
| UStaticMeshComponent * | Base = nullptr |
| UStaticMeshComponent * | LidarSensor = nullptr |
| URR2DLidarComponent * | LidarComponent = nullptr |
| UStaticMeshComponent * | WheelLeft = nullptr |
| UStaticMeshComponent * | WheelRight = nullptr |
| UStaticMeshComponent * | CasterBack = nullptr |
| UPhysicsConstraintComponent * | Base_LidarSensor = nullptr |
| UPhysicsConstraintComponent * | Base_CasterBack = nullptr |
| float | MaxForce = 1000.f |
| UMaterial * | VehicleMaterial = nullptr |
| UMaterial * | BallMaterial = nullptr |
| uint8 | bBodyComponentsCreated: 1 |
| float | WheelRadius = 3.3f |
| pass to UDifferentialDriveComponent. More... | |
| float | WheelSeparationHalf = 7.9f |
| pass to UDifferentialDriveComponent. More... | |
| Protected Attributes inherited from ARRBaseRobot | |
| float | LastCmdVelUpdateTime = 0 |
| last time when SetVel is called. More... | |
Additional Inherited Members | |
| Public Attributes inherited from ARRBaseRobot | |
| TObjectPtr< USceneComponent > | DefaultRoot = nullptr |
| FOnRobotCreationDone | OnRobotCreationDone |
| Robot creation done delegate. More... | |
| TSubclassOf< URRRobotROS2Interface > | ROS2InterfaceClass = nullptr |
| Default class to use when ROS 2 Interface is setup for robot. More... | |
| TObjectPtr< URRRobotROS2Interface > | ROS2Interface = nullptr |
| bool | bStartStopROS2Interface = false |
| Flag to start/stop ROS2Interfaces. Since RPC can't be used, use replication to trigger initialization. More... | |
| TObjectPtr< UROS2Spawnable > | ROSSpawnParameters = nullptr |
| ROSSpawn parameters which is passed to ROS2Interface. More... | |
| TObjectPtr< ARRBaseRobot > | ServerRobot = nullptr |
| Pointer to the robot's server-owned version. More... | |
| FTimerHandle | ROS2InitTimer |
| FString | RobotUniqueName |
| FString | RobotModelName |
| Robot Model Name (loaded from URDF/SDF) More... | |
| uint64 | RobotID = 0 |
| Robot ID No. More... | |
| TMap< FString, UStaticMeshComponent * > | Links |
| TObjectPtr< UMeshComponent > | BaseMeshComp = nullptr |
| Base mesh comp, normally also as the root comp. More... | |
| TMap< FString, URRJointComponent * > | Joints |
| bool | bInitializeJoints = true |
| ERRNetworkAuthorityType | NetworkAuthorityType = ERRNetworkAuthorityType::CLIENT |
| Network Authority Type. More... | |
| FVector | TargetLinearVel = FVector::ZeroVector |
| [cm/s] Local target linear vel More... | |
| FVector | TargetAngularVel = FVector::ZeroVector |
| [deg/s] Local target angular vel [X:Roll - Y:Pitch - Z: Yaw] More... | |
| TObjectPtr< UMovementComponent > | MovementComponent = nullptr |
| Main robot movement component (kinematics/diff-drive or wheels-drive comp) More... | |
| TObjectPtr< URobotVehicleMovementComponent > | RobotVehicleMoveComponent |
| Movecomponent casted to URobotVehicleMovementComponent for utility. More... | |
| TSubclassOf< UMovementComponent > | VehicleMoveComponentClass |
| Class of the main robot movement component, configurable in child class. More... | |
| FTransform | RootOffset = FTransform::Identity |
| Offset transform between the Actor root component and the pose that will be published in /odom topic. More... | |
| bool | bInitRobotVehicleMoveComponent = true |
| Call ConfigureMovecomponent and RobotVehicleMoveComponent::Initialize() in InitMoveComponent in PostInitializeComponents or not. More... | |
| bool | bMobileRobot = true |
| Mobile robot or not. If this is false, movecomponent=nullptr and ROS 2 odom and cmd_vel interface are disabled. More... | |
| bool | bJointControl = true |
| Control Joint by ROS2 o rnot. More... | |
| uint8 | bUIWidgetEnabled: 1 |
| Enable widget or not. More... | |
| TObjectPtr< URRUIWidgetComponent > | UIWidgetComp = nullptr |
| UI widget component. More... | |
| FTransform | UIWidgetOffset = FTransform(FVector(0.f, 0.f, 100.f)) |
| Relative pose of the UI widget from the owner robot. More... | |
| TSubclassOf< UUserWidget > | UIUserWidgetClass |
| Widget class. More... | |
| float | CmdVelTimeout = 0.5 |
| Allowed period between two successive velocity commands. After this delay, a zero speed command will be set. More... | |
| bool | bInitializingJoints = false |
| TMap< UPrimitiveComponent *, FName > | OriginalCollisionProfiles |
| Children UPrimitives components orignal collision profiles. More... | |
| Public Attributes inherited from ARRBaseActor | |
| TSharedPtr< FRRActorSpawnInfo > | ActorInfo = nullptr |
| ARRGameState * | RRGameState = nullptr |
| Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More... | |
| URRGameSingleton * | RRGameSingleton = nullptr |
| Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More... | |
| ARRGameMode * | RRGameMode = nullptr |
| Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More... | |
| ARRPlayerController * | RRPlayerController = nullptr |
| Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More... | |
| int8 | SceneInstanceId = URRActorCommon::DEFAULT_SCENE_INSTANCE_ID |
| URRActorCommon * | ActorCommon = nullptr |
| FString | EntityUniqueName |
| Actually Object's Name is also unique as noted by UE, but we just do not want to rely on it. More... | |
| FString | EntityModelName |
| FTimerHandle | GenericTimerHandle |
| Static Public Attributes inherited from ARRBaseActor | |
| static TMap< UClass *, TUniquePtr< std::once_flag > > | OnceFlagList |
| [std::once_flag] also applies even in case of consecutive PIE runs, More... | |
| static std::once_flag | OnceFlag |
| Used for class having single-branch child classes (linear inheritance tree) More... | |
| static int8 | SSceneInstanceId |
Detailed Description
Example of child class of ARRBaseRobot.
Uses UDifferentialDriveComponent
This class is designed to be inheritted from Blueprint class to be assigned UStaticMeshComponent.
Constructor & Destructor Documentation
◆ ATurtlebotBurger()
| ATurtlebotBurger::ATurtlebotBurger | ( | const FObjectInitializer & | ObjectInitializer | ) |
Construct a new ATurtlebotBurger object. Calls SetupBody.
- Parameters
-
ObjectInitializer
Member Function Documentation
◆ SetupBody()
|
overrideprotectedvirtual |
Create UStaticMeshComponent, create UPhysicsConstraintComponent.
Reimplemented from ATurtlebotBurgerBase.
◆ SetupConstraintsAndPhysics()
|
overrideprotectedvirtual |
Setup material, relative location, anugular/linear limits, drive params.
Reimplemented from ATurtlebotBurgerBase.
◆ SetupWheelDrives()
|
overrideprotectedvirtual |
Setup UDifferentialDriveComponent.
Reimplemented from ATurtlebotBurgerBase.
Member Data Documentation
◆ Base_WheelLeft
|
protected |
◆ Base_WheelRight
|
protected |
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Robots/Turtlebot3/TurtlebotBurger.h
