Contains various commonly used struct definitions for robot & object entities. More...

#include "ChaosVehicleWheel.h"
#include "CoreMinimal.h"
#include "Misc/Paths.h"
#include "Templates/SharedPointer.h"
#include "Core/RRCoreUtils.h"
#include "Core/RRMathUtils.h"
#include "Core/RRTypeUtils.h"
#include "RREntityStructs.generated.h"

Include dependency graph for RREntityStructs.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	FRRRobotJointDynamicProperties

struct	FRRRobotJointProperty
	The FRRRobotJointProperty struct. More...

struct	FRRRobotJointValue
	Joint value struct, mainly to directly store input values from ROS cmds, thus units are in SI to avoid conversion overheads. More...

struct	FRRRobotLinkInertia

struct	FRREntityGeometryInfo

struct	FRRSensorBaseInfo
	Sensor base info which includes essential base attributes such as Topic name, frame id, publication rate. More...

struct	FRRSensorLidarInfo
	Sensor lidar info. More...

struct	FRRSensorProperty

struct	FRRRobotLinkProperty

struct	FRRRobotWheelProperty
	Wheel property for the robot, used to store configurations for runtime #UChaosVehicleWheel setup. More...

class	URRRobotNode

struct	FRREntityTreeLayer

struct	FRREntityModelData
	Core UE struct housing entity (robot, object) model data, wrapped by FRREntityModelInfo & FRREntityModelTableRow. More...

class	UBPRREntityModelData
	BP Wrapper of FRREntityModelData. More...

struct	FRREntityModelTableRow
	Struct, inheriting from #FTableRowBase, storing entry data for #UDataTable. More...

struct	FRREntityModelInfo
	Plain struct wrapping robot model data (FRREntityModelData), being thread-safe accessible through TSharedRef if created with TSharedPtr. More...

class	FRREntityDescriptionParser
	This class will co-parent with [IFastXmlCallback], which is not a USTRUCT. More...

Enumerations
enum	ERRUEComponentType : uint8 { ERRUEComponentType::NONE = 0x00, ERRUEComponentType::DIFF_DRIVE = 0x01, ERRUEComponentType::WHEEL_DRIVE = 0x02, ERRUEComponentType::ARTICULATION_DRIVE = 0x04 }

enum	ERREntityDescriptionType : uint8 { ERREntityDescriptionType::NONE, ERREntityDescriptionType::URDF, ERREntityDescriptionType::SDF, ERREntityDescriptionType::UE_DATA_TABLE, ERREntityDescriptionType::SINGLE_CAD, ERREntityDescriptionType::TOTAL }

enum	ERRRobotStatus : uint8 { ERRRobotStatus::INVALID, ERRRobotStatus::CREATING, ERRRobotStatus::IDLE, ERRRobotStatus::ORDER_PROCESSING, ERRRobotStatus::MOVING, ERRRobotStatus::ERROR, ERRRobotStatus::TOTAL }

enum	ERREntityGeometryType : uint8 { ERREntityGeometryType::NONE = 0x00, ERREntityGeometryType::VISUAL = 0x01, ERREntityGeometryType::COLLISION = 0x02, ERREntityGeometryType::INERTIA = 0x04 }

enum	ERRSensorType : uint8 { ERRSensorType::NONE, ERRSensorType::CAMERA, ERRSensorType::LIDAR, ERRSensorType::DEPTH, ERRSensorType::IMU, ERRSensorType::TOTAL }

enum	ERRLidarSensorType : uint8 { ERRLidarSensorType::NONE, ERRLidarSensorType::TWO_D, ERRLidarSensorType::THREE_D, ERRLidarSensorType::TOTAL }

enum	ERRRobotJointType : uint8 { ERRRobotJointType::NONE, ERRRobotJointType::FIXED, ERRRobotJointType::FLOATING, ERRRobotJointType::PRISMATIC, ERRRobotJointType::REVOLUTE, ERRRobotJointType::BALL, ERRRobotJointType::PLANAR, ERRRobotJointType::CONTINUOUS, ERRRobotJointType::TOTAL }

enum	ERRRobotJointStatus : uint8 { ERRRobotJointStatus::INVALID, ERRRobotJointStatus::IDLE, ERRRobotJointStatus::MOVING, ERRRobotJointStatus::TOTAL }

enum	ERRJointAxisRotation : uint8 { ERRJointAxisRotation::NONE = 0x00, ERRJointAxisRotation::X = 0x01, ERRJointAxisRotation::Y = 0x02, ERRJointAxisRotation::Z = 0x04 }

enum	ERREntityMeshComponentType : uint8 { ERREntityMeshComponentType::NONE, ERREntityMeshComponentType::STATIC_MESH, ERREntityMeshComponentType::SKELETAL_MESH, ERREntityMeshComponentType::PROCEDURAL_MESH, ERREntityMeshComponentType::DYNAMIC_MESH, ERREntityMeshComponentType::TOTAL }

Functions
	ENUM_CLASS_FLAGS (ERRUEComponentType)

	ENUM_CLASS_FLAGS (ERREntityGeometryType)

Detailed Description

Contains various commonly used struct definitions for robot & object entities.

Copyright: Copyright 2020-2023 Rapyuta Robotics Co., Ltd.

Enumeration Type Documentation

◆ ERREntityDescriptionType

enum ERREntityDescriptionType : uint8

strong

UENUM()

Enumerator
NONE
URDF
SDF	URDF
UE_DATA_TABLE	SDF
SINGLE_CAD	UDataTable
TOTAL	Raw single CAD (FBX, COLLADA, etc.)

◆ ERREntityGeometryType

enum ERREntityGeometryType : uint8

strong

UENUM(meta = (Bitflags))

Enumerator
NONE
VISUAL
COLLISION
INERTIA

◆ ERREntityMeshComponentType

enum ERREntityMeshComponentType : uint8

strong

UENUM()

Enumerator
NONE
STATIC_MESH
SKELETAL_MESH
PROCEDURAL_MESH
DYNAMIC_MESH
TOTAL

◆ ERRJointAxisRotation

enum ERRJointAxisRotation : uint8

strong

UENUM()

Enumerator
NONE
X
Y
Z

◆ ERRLidarSensorType

enum ERRLidarSensorType : uint8

strong

UENUM()

Enumerator
NONE
TWO_D
THREE_D
TOTAL

◆ ERRRobotJointStatus

enum ERRRobotJointStatus : uint8

strong

UENUM()

Enumerator
INVALID
IDLE	Invalid -> Idle: After joint drive params are fully configured.
MOVING
TOTAL

◆ ERRRobotJointType

enum ERRRobotJointType : uint8

strong

UENUM()

Enumerator
NONE
FIXED
FLOATING
PRISMATIC
REVOLUTE
BALL
PLANAR
CONTINUOUS
TOTAL

◆ ERRRobotStatus

enum ERRRobotStatus : uint8

strong

UENUM()

Enumerator
INVALID
CREATING	Invalid status, eg not loaded successfully.
IDLE	Being built up (loading the meshses, building the structure, etc.)
ORDER_PROCESSING	Idling, ready for command order.
MOVING	Received command and in middle of processing.
ERROR	On the move.
TOTAL	Having some internal errors.