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Constructors with parameters in ROS2SensorComponents (#433)
* pass config to ROS2CameraSensorEditorComponent * pass config to ROS2GNSSSensorComponent * pass config to ROS2LidarSensorComponent and ROS2Lidar2DSensorComponent * pass config to ROS2ImuSensorComponent * modify editor view: ShowChildrenOnly * update prefabs to new format * EN_UK -> EN_US: visualise -> visualize --------- Signed-off-by: Jan Hanca <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
|
|
||
| #include "GNSSSensorConfiguration.h" | ||
| #include <AzCore/Serialization/EditContext.h> | ||
| #include <AzCore/Serialization/EditContextConstants.inl> | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| void GNSSSensorConfiguration::Reflect(AZ::ReflectContext* context) | ||
| { | ||
| if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context)) | ||
| { | ||
| serialize->Class<GNSSSensorConfiguration>() | ||
| ->Version(1) | ||
| ->Field("originLatitude", &GNSSSensorConfiguration::m_originLatitudeDeg) | ||
| ->Field("originLongitude", &GNSSSensorConfiguration::m_originLongitudeDeg) | ||
| ->Field("originAltitude", &GNSSSensorConfiguration::m_originAltitude); | ||
|
|
||
| if (AZ::EditContext* ec = serialize->GetEditContext()) | ||
| { | ||
| ec->Class<GNSSSensorConfiguration>("ROS2 GNSS Sensor", "GNSS sensor component") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &GNSSSensorConfiguration::m_originLatitudeDeg, | ||
| "Latitude offset", | ||
| "GNSS latitude position offset in degrees") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &GNSSSensorConfiguration::m_originLongitudeDeg, | ||
| "Longitude offset", | ||
| "GNSS longitude position offset in degrees") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &GNSSSensorConfiguration::m_originAltitude, | ||
| "Altitude offset", | ||
| "GNSS altitude position offset in meters"); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| } // namespace ROS2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
| #pragma once | ||
|
|
||
| #include <AzCore/RTTI/RTTI.h> | ||
| #include <AzCore/Serialization/SerializeContext.h> | ||
| #include <AzCore/std/string/string.h> | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| //! A structure capturing configuration of a Global Navigation Satellite Systems (GNSS) sensor. | ||
| struct GNSSSensorConfiguration | ||
| { | ||
| AZ_TYPE_INFO(GNSSSensorConfiguration, "{8bc39c6b-2f2c-4612-bcc7-0cc7033001d4}"); | ||
| static void Reflect(AZ::ReflectContext* context); | ||
|
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| float m_originLatitudeDeg = 0.0f; | ||
| float m_originLongitudeDeg = 0.0f; | ||
| float m_originAltitude = 0.0f; | ||
| }; | ||
| } // namespace ROS2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
|
|
||
| #include "ImuSensorConfiguration.h" | ||
| #include <AzCore/Serialization/EditContext.h> | ||
| #include <AzCore/Serialization/EditContextConstants.inl> | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| void ImuSensorConfiguration::Reflect(AZ::ReflectContext* context) | ||
| { | ||
| if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context)) | ||
| { | ||
| serialize->Class<ImuSensorConfiguration>() | ||
| ->Version(1) | ||
| ->Field("FilterSize", &ImuSensorConfiguration::m_filterSize) | ||
| ->Field("IncludeGravity", &ImuSensorConfiguration::m_includeGravity) | ||
| ->Field("AbsoluteRotation", &ImuSensorConfiguration::m_absoluteRotation) | ||
| ->Field("AccelerationVariance", &ImuSensorConfiguration::m_linearAccelerationVariance) | ||
| ->Field("AngularVelocityVariance", &ImuSensorConfiguration::m_angularVelocityVariance) | ||
| ->Field("OrientationVariance", &ImuSensorConfiguration::m_orientationVariance); | ||
|
|
||
| if (AZ::EditContext* ec = serialize->GetEditContext()) | ||
| { | ||
| ec->Class<ImuSensorConfiguration>("ROS2 IMU sensor configuration", "IMU sensor configuration") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Slider, | ||
| &ImuSensorConfiguration::m_filterSize, | ||
| "Filter Length", | ||
| "Filter Length, Large value reduce numeric noise but increase lag") | ||
| ->Attribute(AZ::Edit::Attributes::Max, &ImuSensorConfiguration::m_maxFilterSize) | ||
| ->Attribute(AZ::Edit::Attributes::Min, &ImuSensorConfiguration::m_minFilterSize) | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ImuSensorConfiguration::m_includeGravity, | ||
| "Include Gravitation", | ||
| "Enable accelerometer to observe gravity force.") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ImuSensorConfiguration::m_absoluteRotation, | ||
| "Absolute Rotation", | ||
| "Include Absolute rotation in message.") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ImuSensorConfiguration::m_linearAccelerationVariance, | ||
| "Linear Acceleration Variance", | ||
| "Variance of linear acceleration.") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ImuSensorConfiguration::m_angularVelocityVariance, | ||
| "Angular Velocity Variance", | ||
| "Variance of angular velocity.") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ImuSensorConfiguration::m_orientationVariance, | ||
| "Orientation Variance", | ||
| "Variance of orientation."); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| } // namespace ROS2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
| #pragma once | ||
|
|
||
| #include <AzCore/Math/Matrix3x3.h> | ||
| #include <AzCore/RTTI/RTTI.h> | ||
| #include <AzCore/Serialization/SerializeContext.h> | ||
| #include <AzCore/std/string/string.h> | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| //! A structure capturing configuration of a IMU sensor. | ||
| struct ImuSensorConfiguration | ||
| { | ||
| AZ_TYPE_INFO(ImuSensorConfiguration, "{6788e84f-b985-4413-8e2b-46fbfb667c95}"); | ||
| static void Reflect(AZ::ReflectContext* context); | ||
|
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| //! Length of filter that removes numerical noise | ||
| int m_filterSize = 10; | ||
| int m_minFilterSize = 1; | ||
| int m_maxFilterSize = 200; | ||
|
|
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| //! Include gravity acceleration | ||
| bool m_includeGravity = true; | ||
|
|
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| //! Measure also absolute rotation | ||
| bool m_absoluteRotation = true; | ||
|
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| AZ::Vector3 m_orientationVariance = AZ::Vector3::CreateZero(); | ||
| AZ::Vector3 m_angularVelocityVariance = AZ::Vector3::CreateZero(); | ||
| AZ::Vector3 m_linearAccelerationVariance = AZ::Vector3::CreateZero(); | ||
| }; | ||
| } // namespace ROS2 |
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