WalkerParameters.h

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// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "CoreMinimal.h"
 
#include "WalkerType.h"
#include "WalkerAction.h"
#include "WalkerEndAction.h"
 
#include "WalkerParameters.generated.h"
 
USTRUCT(Blueprintable)
struct AGRARSENSE_API FWalkerParameters
{
    GENERATED_BODY()
 
    /*
    * WalkerType to spawn
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    EWalkerType WalkerType = EWalkerType::NONE;
 
    /*
    * Walker speed
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float WalkerSpeed = 50.0f;
 
    /*
    * Should this walker create a transform sensor that publishes data to ROS.
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool CreateTransformTopic = true;
 
    /*
    * What is this Walker's Action type
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    EWalkerAction WalkerAction = EWalkerAction::Roaming;
 
    /*
    * What is this Walker's Action when reached end point (does not apply to Roaming walker)
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    EWalkerEndAction WalkerEndAction = EWalkerEndAction::RepeatFromBeginning;
 
    /*
    * TArray of FTransforms
    * Indices should be as follows:
    * First index --> starting point
    * n points
    * Last index --> end point
    */
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    TArray<FTransform> Points;
 
};