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71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#pragma once
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#include "CoreMinimal.h"
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#include "RobotPilotComponent.generated.h"
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struct FRemoteControlPayload;
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USTRUCT(BlueprintType)
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struct FRobotActuators
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{
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GENERATED_BODY()
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// Do we need a prent struct?
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// What will be in common?
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};
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USTRUCT(BlueprintType)
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struct FTrainingEpisodeData
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{
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GENERATED_BODY()
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FJsonObject JointsStates; // The total series of joint values per frame
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FJsonObject ControlsStates; // The total series of joint values per frame
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FJsonObject JointsStats; // The min / max / mean / std for joints series
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FJsonObject ControlsStats; // The min / max / mean / std for controls series
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};
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class ARobotPawn;
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UCLASS(Blueprintable)
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class LUCKYWORLDV2_API URobotPilotComponent : public UActorComponent
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{
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GENERATED_BODY()
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public:
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URobotPilotComponent();
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virtual void BeginPlay() override;
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virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
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virtual void InitPilotComponent();
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virtual void PostPhysicStepUpdate(const float SimulationTime);
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virtual FTransform GetReachableTransform();
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virtual bool GetIsReadyForTraining();
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virtual bool GetIsInRestState();
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UFUNCTION(BlueprintCallable)
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virtual void SetRobotTarget(const FTransform& TargetTransformIn);
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virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn);
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UFUNCTION()
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virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload);
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// Data
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virtual FJsonObject GetBufferedControlsData();
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virtual FJsonObject GetBufferedJointsData();
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virtual FTrainingEpisodeData GetTrainingEpisodeData();
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protected: // Child class need access
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// Only to easy access within the component
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TObjectPtr<ARobotPawn> RobotOwner = nullptr;
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// ----------------
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// ----- ANIM -----
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// ----------------
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protected: // Child class need access
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float AnimationStartTime = 0.f;
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float AnimationDuration = 0.f;
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};
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