101 lines
2.5 KiB
C
101 lines
2.5 KiB
C
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// Copyright (c) 2017 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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#include "carla/MsgPack.h"
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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#include <compiler/enable-ue4-macros.h>
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#include "Carla/Vehicle/VehicleControl.h"
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#include <compiler/disable-ue4-macros.h>
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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namespace carla {
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namespace rpc {
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class VehicleControl {
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public:
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VehicleControl() = default;
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VehicleControl(
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float in_throttle,
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float in_steer,
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float in_brake,
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bool in_hand_brake,
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bool in_reverse,
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bool in_manual_gear_shift,
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int32_t in_gear)
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: throttle(in_throttle),
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steer(in_steer),
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brake(in_brake),
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hand_brake(in_hand_brake),
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reverse(in_reverse),
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manual_gear_shift(in_manual_gear_shift),
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gear(in_gear) {}
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float throttle = 0.0f;
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float steer = 0.0f;
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float brake = 0.0f;
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bool hand_brake = false;
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bool reverse = false;
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bool manual_gear_shift = false;
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int32_t gear = 0;
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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VehicleControl(const FVehicleControl &Control)
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: throttle(Control.Throttle),
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steer(Control.Steer),
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brake(Control.Brake),
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hand_brake(Control.bHandBrake),
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reverse(Control.bReverse),
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manual_gear_shift(Control.bManualGearShift),
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gear(Control.Gear) {}
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operator FVehicleControl() const {
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FVehicleControl Control;
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Control.Throttle = throttle;
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Control.Steer = steer;
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Control.Brake = brake;
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Control.bHandBrake = hand_brake;
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Control.bReverse = reverse;
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Control.bManualGearShift = manual_gear_shift;
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Control.Gear = gear;
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return Control;
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}
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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bool operator!=(const VehicleControl &rhs) const {
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return
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throttle != rhs.throttle ||
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steer != rhs.steer ||
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brake != rhs.brake ||
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hand_brake != rhs.hand_brake ||
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reverse != rhs.reverse ||
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manual_gear_shift != rhs.manual_gear_shift ||
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gear != rhs.gear;
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}
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bool operator==(const VehicleControl &rhs) const {
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return !(*this != rhs);
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}
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MSGPACK_DEFINE_ARRAY(
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throttle,
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steer,
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brake,
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hand_brake,
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reverse,
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manual_gear_shift,
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gear);
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};
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} // namespace rpc
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} // namespace carla
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