WheeledVehicleAIController.h

Go to the documentation of this file.

// Copyright (c) 2026 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 "Carla/Traffic/TrafficLightState.h"
#include "Carla/Vehicle/VehicleControl.h"
 
#include <util/ue-header-guard-begin.h>
#include "GameFramework/Controller.h"
#include <util/ue-header-guard-end.h>
 
#include <queue>
 
#include "WheeledVehicleAIController.generated.h"
 
class ACarlaWheeledVehicle;
class URandomEngine;
class URoadMap;
 
/// Wheeled vehicle controller with optional AI.
UCLASS()
class CARLA_API AWheeledVehicleAIController final : public AController
{
  GENERATED_BODY()
 
  // ===========================================================================
  /// @name Constructor and destructor
  // ===========================================================================
  /// @{
 
public:
 
  AWheeledVehicleAIController(const FObjectInitializer &ObjectInitializer);
 
  ~AWheeledVehicleAIController();
 
  /// @}
  // ===========================================================================
  /// @name Controller overrides
  // ===========================================================================
  /// @{
 
public:
 
  void OnPossess(APawn *aPawn) override;
 
  void OnUnPossess() override;
 
  void Tick(float DeltaTime) override;
 
  /// @}
  // ===========================================================================
  /// @name Possessed vehicle
  // ===========================================================================
  /// @{
 
public:
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  bool IsPossessingAVehicle() const
  {
    return Vehicle != nullptr;
  }
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  ACarlaWheeledVehicle *GetPossessedVehicle()
  {
    return Vehicle;
  }
 
  const ACarlaWheeledVehicle *GetPossessedVehicle() const
  {
    return Vehicle;
  }
 
  /// @}
  // ===========================================================================
  /// @name Control options
  // ===========================================================================
  /// @{
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetStickyControl(bool bEnabled)
  {
    bControlIsSticky = bEnabled;
  }
 
  /// @}
  // ===========================================================================
  /// @name Road map
  // ===========================================================================
  /// @{
 
public:
 
  void SetRoadMap(URoadMap *InRoadMap)
  {
    RoadMap = InRoadMap;
  }
 
  UFUNCTION(Category = "Road Map", BlueprintCallable)
  URoadMap *GetRoadMap()
  {
    return RoadMap;
  }
 
  /// @}
  // ===========================================================================
  /// @name Random engine
  // ===========================================================================
  /// @{
 
public:
 
  UFUNCTION(Category = "Random Engine", BlueprintCallable)
  URandomEngine *GetRandomEngine()
  {
    check(RandomEngine != nullptr);
    return RandomEngine;
  }
 
  /// @}
  // ===========================================================================
  /// @name Autopilot
  // ===========================================================================
  /// @{
 
public:
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  bool IsAutopilotEnabled() const
  {
    return bAutopilotEnabled;
  }
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetAutopilot(bool Enable, bool KeepState = false)
  {
    if (IsAutopilotEnabled() != Enable)
    {
      ConfigureAutopilot(Enable, KeepState);
    }
  }
 
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void ToggleAutopilot()
  {
    ConfigureAutopilot(!bAutopilotEnabled);
  }
 
private:
 
  void ConfigureAutopilot(const bool Enable, const bool KeepState = false);
 
  /// @}
  // ===========================================================================
  /// @name Traffic
  // ===========================================================================
  /// @{
 
public:
 
  /// Get current speed limit in km/h.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  float GetSpeedLimit() const
  {
    return SpeedLimit;
  }
 
  /// Set vehicle's speed limit in km/h.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetSpeedLimit(float InSpeedLimit)
  {
    SpeedLimit = InSpeedLimit;
  }
 
  /// Get traffic light state currently affecting this vehicle.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  ETrafficLightState GetTrafficLightState() const
  {
    return TrafficLightState;
  }
 
  /// Set traffic light state currently affecting this vehicle.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetTrafficLightState(ETrafficLightState InTrafficLightState)
  {
    TrafficLightState = InTrafficLightState;
  }
 
  /// Get traffic light currently affecting this vehicle.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  ATrafficLightBase *GetTrafficLight() const
  {
    return TrafficLight;
  }
 
  /// Set traffic light currently affecting this vehicle.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetTrafficLight(ATrafficLightBase *InTrafficLight)
  {
    TrafficLight = InTrafficLight;
  }
 
  /// Set a fixed route to follow if autopilot is enabled.
  UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
  void SetFixedRoute(const TArray<FVector> &Locations, bool bOverwriteCurrent = true);
 
  /// @}
 
private:
 
  UPROPERTY()
  ACarlaWheeledVehicle *Vehicle = nullptr;
 
  UPROPERTY()
  URoadMap *RoadMap = nullptr;
 
  UPROPERTY()
  URandomEngine *RandomEngine = nullptr;
 
  UPROPERTY(VisibleAnywhere)
  bool bAutopilotEnabled = false;
 
  UPROPERTY(VisibleAnywhere)
  bool bControlIsSticky = true;
 
  UPROPERTY(VisibleAnywhere)
  float SpeedLimit = 30.0f;
 
  UPROPERTY(VisibleAnywhere)
  ETrafficLightState TrafficLightState = ETrafficLightState::Green;
 
  UPROPERTY(VisibleAnywhere)
  float MaximumSteerAngle = -1.0f;
 
  UPROPERTY()
  ATrafficLightBase *TrafficLight;
 
  std::queue<FVector> TargetLocations;
};