39 lines
865 B
C
39 lines
865 B
C
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// Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#ifdef _MSC_VER
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#pragma warning(push)
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#pragma warning(disable:4583)
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#pragma warning(disable:4582)
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#include <boost/variant2/variant.hpp>
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#pragma warning(pop)
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#else
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#include <boost/variant2/variant.hpp>
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#endif
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namespace carla {
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namespace ros2 {
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struct VehicleControl
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{
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float throttle;
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float steer;
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float brake;
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bool hand_brake;
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bool reverse;
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int32_t gear;
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bool manual_gear_shift;
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};
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using ROS2CallbackData = boost::variant2::variant<VehicleControl>;
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using ActorCallback = std::function<void(void *actor, ROS2CallbackData data)>;
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} // namespace ros2
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} // namespace carla
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