ActorBlueprintFunctionLibrary.h

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// 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/Actor/ActorDefinition.h"
#include "Carla/Actor/PedestrianParameters.h"
#include "Carla/Actor/PropParameters.h"
#include "Carla/Actor/VehicleParameters.h"
#include "Carla/Actor/BlueprintParameters.h"
 
#include <util/ue-header-guard-begin.h>
#include "Kismet/BlueprintFunctionLibrary.h"
#include <util/ue-header-guard-end.h>
 
#include "ActorBlueprintFunctionLibrary.generated.h"
 
class AGnssSensor;
class AAutowareGnssSensor;
class AInertialMeasurementUnit;
class ARadar;
class ASceneCaptureSensor;
class AShaderBasedSensor;
class ASceneCaptureSensor_WideAngleLens;
class AShaderBasedSensor_WideAngleLens;
class AV2XSensor;
class ACustomV2XSensor;
struct FLidarDescription;
struct FActorDescription;
 
UCLASS()
class UActorBlueprintFunctionLibrary : public UBlueprintFunctionLibrary
{
  GENERATED_BODY()
 
public:
 
  /// @}
  /// ==========================================================================
  /// @name Actor definition validators
  /// ==========================================================================
  /// @{
 
  /// Return whether the actor definition is valid. Prints all the errors found.
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static bool CheckActorDefinition(const FActorDefinition &ActorDefinitions);
 
  /// Return whether the list of actor definitions is valid. Prints all the
  /// errors found.
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static bool CheckActorDefinitions(const TArray<FActorDefinition> &ActorDefinitions);
 
  /// @}
  /// ==========================================================================
  /// @name Helpers to create actor definitions
  /// ==========================================================================
  /// @{
 
  static FActorDefinition MakeGenericDefinition(
      const FString &Category,
      const FString &Type,
      const FString &Id);
 
  static FActorDefinition MakeGenericSensorDefinition(
      const FString &Type,
      const FString &Id);
 
  static FActorDefinition MakeCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects = false);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects,
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeWideAngleLensCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects = false);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeWideAngleLensCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects,
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeRayTracedLensCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects = false);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeRayTracedLensCameraDefinition(
      const FString &Id,
      bool bEnableModifyingPostProcessEffects,
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeNormalsCameraDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeNormalsCameraDefinition(
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeLidarDefinition(
      const FString &Id);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeLidarDefinition(
      const FString &Id,
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeGnssDefinition();
  static FActorDefinition MakeAutowareGnssDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeGnssDefinition(
      bool &Success,
      FActorDefinition &Definition,
      FString Name);
 
  static FActorDefinition MakeVehicleStatusDefinition();
 
  static FActorDefinition MakeIMUDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeIMUDefinition(
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeRadarDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeRadarDefinition(
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeV2XDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeV2XDefinition(
      bool &Success,
      FActorDefinition &Definition);
 
  static FActorDefinition MakeCustomV2XDefinition();
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeCustomV2XDefinition(
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeVehicleDefinition(
      const FVehicleParameters &Parameters,
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeVehicleDefinitions(
      const TArray<FVehicleParameters> &ParameterArray,
      TArray<FActorDefinition> &Definitions);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakePedestrianDefinition(
      const FPedestrianParameters &Parameters,
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakePedestrianDefinitions(
      const TArray<FPedestrianParameters> &ParameterArray,
      TArray<FActorDefinition> &Definitions);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeTriggerDefinitions(
      const TArray<FString> &ParameterArray,
      TArray<FActorDefinition> &Definitions);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeTriggerDefinition(
      const FString &Id,
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakePropDefinition(
      const FPropParameters &Parameters,
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakePropDefinitions(
      const TArray<FPropParameters> &ParameterArray,
      TArray<FActorDefinition> &Definitions);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeBlueprintDefinition(
      const FBlueprintParameters &Parameters,
      bool &Success,
      FActorDefinition &Definition);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void MakeBlueprintDefinitions(
      const TArray<FBlueprintParameters> &ParameterArray,
      TArray<FActorDefinition> &Definitions);
 
  UFUNCTION()
  static void MakeObstacleDetectorDefinitions(
      const FString &Type,
      const FString &Id,
      FActorDefinition &Definition);
 
  /// @}
  /// ==========================================================================
  /// @name Helpers to retrieve attribute values
  /// ==========================================================================
  /// @{
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static bool ActorAttributeToBool(const FActorAttribute &ActorAttribute, bool Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static int32 ActorAttributeToInt(const FActorAttribute &ActorAttribute, int32 Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static float ActorAttributeToFloat(const FActorAttribute &ActorAttribute, float Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FString ActorAttributeToString(const FActorAttribute &ActorAttribute, const FString &Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FColor ActorAttributeToColor(const FActorAttribute &ActorAttribute, const FColor &Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FVector ActorAttributeToVector(const FActorAttribute &ActorAttribute, const FVector &Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static bool RetrieveActorAttributeToBool(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      bool Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static int32 RetrieveActorAttributeToInt(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      int32 Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static float RetrieveActorAttributeToFloat(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      float Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FString RetrieveActorAttributeToString(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      const FString &Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FColor RetrieveActorAttributeToColor(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      const FColor &Default);
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static FVector RetrieveActorAttributeToVector(
      const FString &Id,
      const TMap<FString, FActorAttribute> &Attributes,
      const FVector &Default);
 
  /// @}
  /// ==========================================================================
  /// @name Helpers to set Actors
  /// ==========================================================================
  /// @{
 
  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
  static void SetCamera(const FActorDescription &Description, ASceneCaptureSensor *Camera);
  static void SetCamera(const FActorDescription &Description, AShaderBasedSensor *Camera);
 
  static void SetCamera(const FActorDescription &Description, ASceneCaptureSensor_WideAngleLens *Camera);
  static void SetCamera(const FActorDescription &Description, AShaderBasedSensor_WideAngleLens *Camera);
 
  static void SetLidar(const FActorDescription &Description, FLidarDescription &Lidar);
 
  static void SetGnss(const FActorDescription &Description, AGnssSensor *Gnss);
  static void SetAutowareGnss(const FActorDescription &Description, AAutowareGnssSensor *Gnss);
 
  static void SetIMU(const FActorDescription &Description, AInertialMeasurementUnit *IMU);
 
  static void SetRadar(const FActorDescription &Description, ARadar *Radar);
 
  static void SetV2X(const FActorDescription &Description, AV2XSensor *V2X);
 
  static void SetCustomV2X(const FActorDescription &Description, ACustomV2XSensor *V2X);
};