Refactor

rapyuta-robotics · Oct 26, 2021 · dadc596 · dadc596
1 parent dc19334
commit dadc596
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Showing 5 changed files with 32 additions and 15 deletions.
diff --git a/Source/RapyutaSimulationPlugins/Private/Robots/RobotVehicle.cpp b/Source/RapyutaSimulationPlugins/Private/Robots/RobotVehicle.cpp
@@ -1,12 +1,15 @@
 // Copyright 2020-2021 Rapyuta Robotics Co., Ltd.
 
 #include "Robots/RobotVehicle.h"
-
+#include "Drives/RobotVehicleMovementComponent.h"
 #include "Msgs/ROS2TFMsg.h"
 #include "ROS2Node.h"
 
-ARobotVehicle::ARobotVehicle(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
+void ARobotVehicle::InitializeMoveComponent()
 {
+    RobotVehicleMoveComponent = NewObject<URobotVehicleMovementComponent>(this, TEXT("RobotVehicleMoveComponent"));
+    verify(RobotVehicleMoveComponent);
+    RobotVehicleMoveComponent->InitMovementComponent();
 }
 
 void ARobotVehicle::Tick(float DeltaSeconds)
@@ -17,18 +20,17 @@ void ARobotVehicle::Tick(float DeltaSeconds)
 void ARobotVehicle::SetLinearVel(const FVector& InLinearVelocity)
 {
     // We're assuming input is in meters, so convert to centimeters.
-    MoveComponent->Velocity = InLinearVelocity;
+    RobotVehicleMoveComponent->Velocity = InLinearVelocity;
 }
 
 void ARobotVehicle::SetAngularVel(const FVector& InAngularVelocity)
 {
-    MoveComponent->AngularVelocity = InAngularVelocity;
+    RobotVehicleMoveComponent->AngularVelocity = InAngularVelocity; 
 }
 
 void ARobotVehicle::BeginPlay()
 {
     Super::BeginPlay();
-    MoveComponent->InitMovementComponent();
 }
 
 void ARobotVehicle::EndPlay(const EEndPlayReason::Type EndPlayReason)

diff --git a/Source/RapyutaSimulationPlugins/Private/Robots/Turtlebot3/TurtlebotBurger.cpp b/Source/RapyutaSimulationPlugins/Private/Robots/Turtlebot3/TurtlebotBurger.cpp
@@ -14,13 +14,18 @@ ATurtlebotBurger::ATurtlebotBurger(const FObjectInitializer& ObjectInitializer)
     PrimaryActorTick.bCanEverTick = true;
 
     Init();
-
+}
+
+void ATurtlebotBurger::InitializeMoveComponent() 
+{
+    DifferentialDriveComponent = NewObject<UDifferentialDriveComponent>(this, TEXT("DifferentialDriveComponent"));
 }
 
 void ATurtlebotBurger::Init()
 {
     if (!IsInitialized)
     {
+        InitializeMoveComponent();
         Base = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("Base"));
         LidarSensor = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("LidarSensor"));
         WheelLeft = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("WheelLeft"));
@@ -56,8 +61,6 @@ void ATurtlebotBurger::SetupWheels()
 {
     if (IsInitialized)
     {
-        MoveComponent = CreateDefaultSubobject<UDifferentialDriveComponent>(TEXT("MoveComponent"));
-        UDifferentialDriveComponent* DifferentialDriveComponent = Cast<UDifferentialDriveComponent>(MoveComponent);
         DifferentialDriveComponent->SetWheels(Base_WheelLeft, Base_WheelRight);
         DifferentialDriveComponent->SetPerimeter();
     }

diff --git a/Source/RapyutaSimulationPlugins/Public/Drives/RobotVehicleMovementComponent.h b/Source/RapyutaSimulationPlugins/Public/Drives/RobotVehicleMovementComponent.h
@@ -1,13 +1,14 @@
 // Copyright 2020-2021 Rapyuta Robotics Co., Ltd.
 
 #pragma once
-
+#include <random>
 #include <Msgs/ROS2OdometryMsg.h>
 #include "CoreMinimal.h"
 #include "GameFramework/FloatingPawnMovement.h"
 #include "Kismet/GameplayStatics.h"
 #include "RobotVehicleMovementComponent.generated.h"
 
+// #include <ran>
 UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
 class RCLUE_API URobotVehicleMovementComponent : public UPawnMovementComponent
 {
@@ -43,7 +44,7 @@ class RCLUE_API URobotVehicleMovementComponent : public UPawnMovementComponent
 	FTransform GetOdomTF();
 
 	UFUNCTION(BlueprintCallable)
-	virtual void InitMovementComponent();
+	virtual void InitMovementComponent(); //change the
 
 protected:
 	virtual void BeginPlay() override;

diff --git a/Source/RapyutaSimulationPlugins/Public/Robots/RobotVehicle.h b/Source/RapyutaSimulationPlugins/Public/Robots/RobotVehicle.h
@@ -8,6 +8,7 @@
 
 #include "RobotVehicle.generated.h"
 
+class URobotVehicleMovementComponent;
 UCLASS()
 class RAPYUTASIMULATIONPLUGINS_API ARobotVehicle : public APawn
 {
@@ -16,10 +17,17 @@ class RAPYUTASIMULATIONPLUGINS_API ARobotVehicle : public APawn
 public:
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite)
-	URobotVehicleMovementComponent *MoveComponent;
+	URobotVehicleMovementComponent* RobotVehicleMoveComponent = nullptr;
+
+	virtual void InitializeMoveComponent();
+
+	template<typename TMovementComponent>
+    TMovementComponent* GetOwnMovementComponent() const
+	{
+		return Cast<TMovementComponent>(GetMovementComponent());
+	}
 
 public:
-	ARobotVehicle(const FObjectInitializer& ObjectInitializer);
 
 	virtual void Tick(float DeltaSeconds) override;
 

diff --git a/Source/RapyutaSimulationPlugins/Public/Robots/Turtlebot3/TurtlebotBurger.h b/Source/RapyutaSimulationPlugins/Public/Robots/Turtlebot3/TurtlebotBurger.h
@@ -20,6 +20,11 @@ class RAPYUTASIMULATIONPLUGINS_API ATurtlebotBurger : public ARobotVehicle
 public:	
 	ATurtlebotBurger(const FObjectInitializer& ObjectInitializer);
 
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	UDifferentialDriveComponent* DifferentialDriveComponent = nullptr;
+
+	virtual void InitializeMoveComponent() override;
+
 protected:
 	// Called when the game starts or when spawned
 	virtual void BeginPlay() override;
@@ -79,7 +84,5 @@ class RAPYUTASIMULATIONPLUGINS_API ATurtlebotBurger : public ARobotVehicle
 	void SetupConstraintsAndPhysics();
 
 	UFUNCTION()
-	void SetupWheels();
-
-
+	void SetupWheels();	
 };