VehicleAccelerationControl.h

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// Copyright (c) 2026 TIER IV, Inc.
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include <util/ue-header-guard-begin.h>
#include "Components/ActorComponent.h"
#include "Components/PrimitiveComponent.h"
#include "CoreMinimal.h"
#include <util/ue-header-guard-end.h>
 
#include "VehicleAccelerationControl.generated.h"
 
/// Component that controls the actor with a constant acceleration (directly applied,
/// no pedal input). Similar to VehicleVelocityControl but for acceleration.
UCLASS(Blueprintable, BlueprintType, ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
class CARLA_API UVehicleAccelerationControl : public UActorComponent
{
  GENERATED_BODY()
 
  // ===========================================================================
  /// @name Constructor and destructor
  // ===========================================================================
  /// @{
public:
  UVehicleAccelerationControl();
 
  /// @}
  // ===========================================================================
  /// @name Get functions
  // ===========================================================================
  /// @{
public:
 
  void BeginPlay() override;
 
  virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override;
 
  // Activate the component setting the target acceleration
  virtual void Activate(bool bReset=false) override;
 
  // Activate the component setting the target acceleration (in vehicle local space, e.g. X=forward)
  virtual void Activate(FVector Acceleration, bool bReset=false);
 
  // Deactivate the component
  virtual void Deactivate() override;
 
private:
  // Target acceleration in vehicle local space (e.g. X forward, Y right, Z up). Units: cm/s^2
  UPROPERTY(Category = "Vehicle Acceleration Control", VisibleAnywhere)
  FVector TargetAcceleration;
 
  /// Integrated forward speed [cm/s] under our control; lateral component is left to physics for cornering
  float ControlledForwardSpeed = 0.0f;
 
  UPROPERTY(Transient, DuplicateTransient)
  TObjectPtr<UPrimitiveComponent> PrimitiveComponent;
 
  UPROPERTY(Transient, DuplicateTransient)
  TObjectPtr<AActor> OwnerVehicle;
 
};