69 lines
1.6 KiB
C
69 lines
1.6 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/Walker/WalkerControl.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 WalkerControl {
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public:
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WalkerControl() = default;
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WalkerControl(
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geom::Vector3D in_direction,
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float in_speed,
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bool in_jump)
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: direction(in_direction),
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speed(in_speed),
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jump(in_jump) {}
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geom::Vector3D direction = {1.0f, 0.0f, 0.0f};
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float speed = 0.0f;
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bool jump = false;
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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WalkerControl(const FWalkerControl &Control)
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: direction(Control.Direction.X, Control.Direction.Y, Control.Direction.Z),
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speed(1e-2f * Control.Speed),
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jump(Control.Jump) {}
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operator FWalkerControl() const {
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FWalkerControl Control;
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Control.Direction = {direction.x, direction.y, direction.z};
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Control.Speed = 1e2f * speed;
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Control.Jump = jump;
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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 WalkerControl &rhs) const {
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return direction != rhs.direction || speed != rhs.speed || jump != rhs.jump;
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}
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bool operator==(const WalkerControl &rhs) const {
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return !(*this != rhs);
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}
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MSGPACK_DEFINE_ARRAY(direction, speed, jump);
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};
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} // namespace rpc
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} // namespace carla
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