New struct FVehicleControl

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2017 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 "VehicleControl.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FVehicleControl
+{
+  GENERATED_BODY()
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Throttle = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Steer = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Brake = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  bool bHandBrake = false;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp

@@ -107,9 +107,7 @@ void AWheeledVehicleAIController::Tick(const float DeltaTime)
   TickAutopilotController();
 
   if (bAutopilotEnabled) {
-    Vehicle->SetThrottleInput(AutopilotControl.Throttle);
+    Vehicle->ApplyVehicleControl(AutopilotControl);
-    Vehicle->SetSteeringInput(AutopilotControl.Steer);
-    Vehicle->SetBrakeInput(AutopilotControl.Brake);
   }
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h

@@ -10,6 +10,7 @@
 
 #include "GameFramework/PlayerController.h"
 #include "TrafficLightState.h"
+#include "VehicleControl.h"
 #include "WheeledVehicleAIController.generated.h"
 
 class ACarlaWheeledVehicle;
@@ -182,14 +183,7 @@ public:
   /// @{
 protected:
 
-  struct FAutopilotControl {
+  const FVehicleControl &GetAutopilotControl() const
-    float Throttle = 0.0f;
-    float Steer = 0.0f;
-    float Brake = 0.0f;
-    bool bHandBrake = false;
-  };
-
-  const FAutopilotControl &GetAutopilotControl() const
   {
     return AutopilotControl;
   }
@@ -237,7 +231,7 @@ private:
   UPROPERTY(VisibleAnywhere)
   float MaximumSteerAngle = -1.0f;
 
-  FAutopilotControl AutopilotControl;
+  FVehicleControl AutopilotControl;
 
   std::queue<FVector> TargetLocations;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp

@@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "CarlaWheeledVehicle.h"
 
+#include "AI/VehicleControl.h"
+
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
 
@@ -64,6 +66,14 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 // -- Set functions ------------------------------------------------------------
 // =============================================================================
 
+void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+{
+  SetThrottleInput(VehicleControl.Throttle);
+  SetSteeringInput(VehicleControl.Steer);
+  SetBrakeInput(VehicleControl.Brake);
+  SetHandbrakeInput(VehicleControl.bHandBrake);
+}
+
 void ACarlaWheeledVehicle::SetThrottleInput(const float Value)
 {
   GetVehicleMovementComponent()->SetThrottleInput(Value);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h

@@ -11,6 +11,7 @@
 #include "WheeledVehicle.h"
 #include "CarlaWheeledVehicle.generated.h"
 
+class FVehicleControl;
 class UBoxComponent;
 
 /// Base class for CARLA wheeled vehicles.
@@ -63,6 +64,9 @@ public:
   /// @{
 public:
 
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   void SetThrottleInput(float Value);