Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleTelemetryData.h

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// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "VehicleTelemetryData.generated.h"
 
USTRUCT(BlueprintType)
struct FWheelTelemetryData
{
  GENERATED_USTRUCT_BODY()
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float TireFriction = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float LatSlip = 0.0f;  // degrees
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float LongSlip = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Omega = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float TireLoad = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float NormalizedTireLoad = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Torque = 0.0f;  // [Nm]
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float LongForce = 0.0f;  // [N]
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float LatForce  = 0.0f;  // [N]
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float NormalizedLongForce = 0.0f;
 
  UPROPERTY(Category = "Wheel Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float NormalizedLatForce  = 0.0f;
};
 
USTRUCT(BlueprintType)
struct CARLA_API FVehicleTelemetryData
{
  GENERATED_BODY()
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Speed = 0.0f;  // [m/s]
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Steer = 0.0f;
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Throttle = 0.0f;
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Brake = 0.0f;
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float EngineRPM = 0.0f;
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  int32 Gear = 0.0f;
 
  UPROPERTY(Category = "Vehicle Telemetry Data", EditAnywhere, BlueprintReadWrite)
  float Drag = 0.0f;  // [N]
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  TArray<FWheelTelemetryData> Wheels;
};