#include <api.hpp>

Public Member Functions
template<typename NodeT , typename AllocatorT = std::allocator<void>, typename... Ts>
	API (NodeT &&node, const Configuration &configuration, Ts &&... xs)

template<typename ParameterT , typename... Ts>
auto	getROS2Parameter (Ts &&... xs) const -> decltype(auto)

template<typename Node >
int	getZMQSocketPort (Node &node)

void	closeZMQConnection ()

void	setVerbose (const bool verbose)

template<typename Pose >
auto	spawn (const std::string &name, const Pose &pose, const traffic_simulator_msgs::msg::VehicleParameters &parameters, const std::string &behavior=VehicleBehavior::defaultBehavior(), const std::string &model3d="")

template<typename Pose >
auto	spawn (const std::string &name, const Pose &pose, const traffic_simulator_msgs::msg::PedestrianParameters &parameters, const std::string &behavior=PedestrianBehavior::defaultBehavior(), const std::string &model3d="")

template<typename Pose >
auto	spawn (const std::string &name, const Pose &pose, const traffic_simulator_msgs::msg::MiscObjectParameters &parameters, const std::string &model3d="")

bool	despawn (const std::string &name)

bool	despawnEntities ()

auto	setEntityStatus (const std::string &name, const EntityStatus &status) -> void

auto	respawn (const std::string &name, const geometry_msgs::msg::PoseWithCovarianceStamped &new_pose, const geometry_msgs::msg::PoseStamped &goal_pose) -> void

auto	setEntityStatus (const std::string &name, const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

auto	setEntityStatus (const std::string &name, const LaneletPose &lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status) -> void

auto	setEntityStatus (const std::string &name, const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

auto	setEntityStatus (const std::string &name, const std::string &reference_entity_name, const geometry_msgs::msg::Pose &relative_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

auto	setEntityStatus (const std::string &name, const std::string &reference_entity_name, const geometry_msgs::msg::Point &relative_position, const geometry_msgs::msg::Vector3 &relative_rpy, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

std::optional< double >	getTimeHeadway (const std::string &from, const std::string &to)

auto	attachImuSensor (const std::string &, const simulation_api_schema::ImuSensorConfiguration &configuration) -> bool

bool	attachPseudoTrafficLightDetector (const simulation_api_schema::PseudoTrafficLightDetectorConfiguration &)

bool	attachLidarSensor (const simulation_api_schema::LidarConfiguration &)

bool	attachLidarSensor (const std::string &, const double lidar_sensor_delay, const helper::LidarType=helper::LidarType::VLP16)

bool	attachDetectionSensor (const simulation_api_schema::DetectionSensorConfiguration &)

bool	attachDetectionSensor (const std::string &, double detection_sensor_range, bool detect_all_objects_in_range, double pos_noise_stddev, int random_seed, double probability_of_lost, double object_recognition_delay)

bool	attachOccupancyGridSensor (const simulation_api_schema::OccupancyGridSensorConfiguration &)

bool	updateFrame ()

double	getCurrentTime () const noexcept

void	startNpcLogic ()

void	requestLaneChange (const std::string &name, const lanelet::Id &lanelet_id)

void	requestLaneChange (const std::string &name, const lane_change::Direction &direction)

void	requestLaneChange (const std::string &name, const lane_change::Parameter &)

void	requestLaneChange (const std::string &name, const lane_change::RelativeTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint)

void	requestLaneChange (const std::string &name, const lane_change::AbsoluteTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint)

auto	addTrafficSource (const double radius, const double rate, const double speed, const geometry_msgs::msg::Pose &position, const traffic::TrafficSource::Distribution &distribution, const bool allow_spawn_outside_lane=false, const bool require_footprint_fitting=false, const bool random_orientation=false, std::optional< int > random_seed=std::nullopt) -> void
	Add a traffic source to the simulation. More...

auto	getV2ITrafficLights ()

auto	getConventionalTrafficLights ()

auto	getEntity (const std::string &name) const -> std::shared_ptr< entity::EntityBase >

template<typename... Ts>
decltype(auto)	activateOutOfRangeJob (Ts &&... xs)
	Forward to arguments to the EntityManager:: activateOutOfRangeJob function. More...

template<typename... Ts>
decltype(auto)	asFieldOperatorApplication (Ts &&... xs)
	Forward to arguments to the EntityManager:: asFieldOperatorApplication function. More...

template<typename... Ts>
decltype(auto)	cancelRequest (Ts &&... xs)
	Forward to arguments to the EntityManager:: cancelRequest function. More...

template<typename... Ts>
decltype(auto)	checkCollision (Ts &&... xs)
	Forward to arguments to the EntityManager:: checkCollision function. More...

template<typename... Ts>
decltype(auto)	entityExists (Ts &&... xs)
	Forward to arguments to the EntityManager:: entityExists function. More...

template<typename... Ts>
decltype(auto)	getBehaviorParameter (Ts &&... xs)
	Forward to arguments to the EntityManager:: getBehaviorParameter function. More...

template<typename... Ts>
decltype(auto)	getBoundingBox (Ts &&... xs)
	Forward to arguments to the EntityManager:: getBoundingBox function. More...

template<typename... Ts>
decltype(auto)	getCurrentAccel (Ts &&... xs)
	Forward to arguments to the EntityManager:: getCurrentAccel function. More...

template<typename... Ts>
decltype(auto)	getCurrentAction (Ts &&... xs)
	Forward to arguments to the EntityManager:: getCurrentAction function. More...

template<typename... Ts>
decltype(auto)	getCurrentTwist (Ts &&... xs)
	Forward to arguments to the EntityManager:: getCurrentTwist function. More...

template<typename... Ts>
decltype(auto)	getEgoName (Ts &&... xs)
	Forward to arguments to the EntityManager:: getEgoName function. More...

template<typename... Ts>
decltype(auto)	getEntityNames (Ts &&... xs)
	Forward to arguments to the EntityManager:: getEntityNames function. More...

template<typename... Ts>
decltype(auto)	getEntityStatus (Ts &&... xs)
	Forward to arguments to the EntityManager:: getEntityStatus function. More...

template<typename... Ts>
decltype(auto)	getCanonicalizedStatusBeforeUpdate (Ts &&... xs)
	Forward to arguments to the EntityManager:: getCanonicalizedStatusBeforeUpdate function. More...

template<typename... Ts>
decltype(auto)	getHdmapUtils (Ts &&... xs)
	Forward to arguments to the EntityManager:: getHdmapUtils function. More...

template<typename... Ts>
decltype(auto)	getLinearJerk (Ts &&... xs)
	Forward to arguments to the EntityManager:: getLinearJerk function. More...

template<typename... Ts>
decltype(auto)	getStandStillDuration (Ts &&... xs)
	Forward to arguments to the EntityManager:: getStandStillDuration function. More...

template<typename... Ts>
decltype(auto)	getTraveledDistance (Ts &&... xs)
	Forward to arguments to the EntityManager:: getTraveledDistance function. More...

template<typename... Ts>
decltype(auto)	isEgoSpawned (Ts &&... xs)
	Forward to arguments to the EntityManager:: isEgoSpawned function. More...

template<typename... Ts>
decltype(auto)	isInLanelet (Ts &&... xs)
	Forward to arguments to the EntityManager:: isInLanelet function. More...

template<typename... Ts>
decltype(auto)	isNpcLogicStarted (Ts &&... xs)
	Forward to arguments to the EntityManager:: isNpcLogicStarted function. More...

template<typename... Ts>
decltype(auto)	laneMatchingSucceed (Ts &&... xs)
	Forward to arguments to the EntityManager:: laneMatchingSucceed function. More...

template<typename... Ts>
decltype(auto)	reachPosition (Ts &&... xs)
	Forward to arguments to the EntityManager:: reachPosition function. More...

template<typename... Ts>
decltype(auto)	requestAcquirePosition (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestAcquirePosition function. More...

template<typename... Ts>
decltype(auto)	requestAssignRoute (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestAssignRoute function. More...

template<typename... Ts>
decltype(auto)	requestFollowTrajectory (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestFollowTrajectory function. More...

template<typename... Ts>
decltype(auto)	requestSpeedChange (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestSpeedChange function. More...

template<typename... Ts>
decltype(auto)	requestSynchronize (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestSynchronize function. More...

template<typename... Ts>
decltype(auto)	requestWalkStraight (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestWalkStraight function. More...

template<typename... Ts>
decltype(auto)	requestClearRoute (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestClearRoute function. More...

template<typename... Ts>
decltype(auto)	resetBehaviorPlugin (Ts &&... xs)
	Forward to arguments to the EntityManager:: resetBehaviorPlugin function. More...

template<typename... Ts>
decltype(auto)	setAcceleration (Ts &&... xs)
	Forward to arguments to the EntityManager:: setAcceleration function. More...

template<typename... Ts>
decltype(auto)	setAccelerationLimit (Ts &&... xs)
	Forward to arguments to the EntityManager:: setAccelerationLimit function. More...

template<typename... Ts>
decltype(auto)	setAccelerationRateLimit (Ts &&... xs)
	Forward to arguments to the EntityManager:: setAccelerationRateLimit function. More...

template<typename... Ts>
decltype(auto)	setBehaviorParameter (Ts &&... xs)
	Forward to arguments to the EntityManager:: setBehaviorParameter function. More...

template<typename... Ts>
decltype(auto)	setDecelerationLimit (Ts &&... xs)
	Forward to arguments to the EntityManager:: setDecelerationLimit function. More...

template<typename... Ts>
decltype(auto)	setDecelerationRateLimit (Ts &&... xs)
	Forward to arguments to the EntityManager:: setDecelerationRateLimit function. More...

template<typename... Ts>
decltype(auto)	setLinearVelocity (Ts &&... xs)
	Forward to arguments to the EntityManager:: setLinearVelocity function. More...

template<typename... Ts>
decltype(auto)	setMapPose (Ts &&... xs)
	Forward to arguments to the EntityManager:: setMapPose function. More...

template<typename... Ts>
decltype(auto)	setTwist (Ts &&... xs)
	Forward to arguments to the EntityManager:: setTwist function. More...

template<typename... Ts>
decltype(auto)	setVelocityLimit (Ts &&... xs)
	Forward to arguments to the EntityManager:: setVelocityLimit function. More...

Constructor & Destructor Documentation

◆ API()

template<typename NodeT , typename AllocatorT = std::allocator<void>, typename... Ts>

traffic_simulator::API::API	(	NodeT &&	node,
		const Configuration &	configuration,
		Ts &&...	xs
	)

inlineexplicit

Member Function Documentation

◆ activateOutOfRangeJob()

template<typename... Ts>

decltype(auto) traffic_simulator::API::activateOutOfRangeJob ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: activateOutOfRangeJob function.

Returns: return value of the EntityManager:: activateOutOfRangeJob function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ addTrafficSource()

auto traffic_simulator::API::addTrafficSource	(	const double	radius,
		const double	rate,
		const double	speed,
		const geometry_msgs::msg::Pose &	position,
		const traffic::TrafficSource::Distribution &	distribution,
		const bool	allow_spawn_outside_lane = `false`,
		const bool	require_footprint_fitting = `false`,
		const bool	random_orientation = `false`,
		std::optional< int >	random_seed = `std::nullopt`
	)		-> void

Add a traffic source to the simulation.

Parameters

radius	The radius defining the area on which entities will be spawned
rate	The rate at which entities will be spawned [Hz]
speed	The speed of the spawned entities
position	The center of the area on which entities will be spawned (includes orientation)
distribution	The parameters of the spawned entities with their respective weights for random distribution For each entity there are 4 parameters in a tuple: VehicleParameters or PedestrianParameters - parameters of entity std::string - name of behavior to be used when spawning std::string - name of 3D model to be used when spawning double - weight of entity for random distribution
allow_spawn_outside_lane	Whether entities can be spawned outside the lane
require_footprint_fitting	Whether entities are required to fit inside lanelet polygon when spawned (allow_spawn_outside_lane has higher priority)
random_orientation	Whether entities should have their orientation randomized before lane matching
random_seed	[Optional] The seed for the random number generator

◆ asFieldOperatorApplication()

template<typename... Ts>

decltype(auto) traffic_simulator::API::asFieldOperatorApplication ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: asFieldOperatorApplication function.

Returns: return value of the EntityManager:: asFieldOperatorApplication function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ attachDetectionSensor() [1/2]

bool traffic_simulator::API::attachDetectionSensor ( const simulation_api_schema::DetectionSensorConfiguration & sensor_configuration )

◆ attachDetectionSensor() [2/2]

bool traffic_simulator::API::attachDetectionSensor	(	const std::string &	entity_name,
		double	detection_sensor_range,
		bool	detect_all_objects_in_range,
		double	pos_noise_stddev,
		int	random_seed,
		double	probability_of_lost,
		double	object_recognition_delay
	)

◆ attachImuSensor()

auto traffic_simulator::API::attachImuSensor	(	const std::string &	,
		const simulation_api_schema::ImuSensorConfiguration &	configuration
	)		-> bool

◆ attachLidarSensor() [1/2]

bool traffic_simulator::API::attachLidarSensor ( const simulation_api_schema::LidarConfiguration & lidar_configuration )

◆ attachLidarSensor() [2/2]

bool traffic_simulator::API::attachLidarSensor	(	const std::string &	entity_name,
		const double	lidar_sensor_delay,
		const helper::LidarType	lidar_type = `helper::LidarType::VLP16`
	)

◆ attachOccupancyGridSensor()

bool traffic_simulator::API::attachOccupancyGridSensor ( const simulation_api_schema::OccupancyGridSensorConfiguration & sensor_configuration )

◆ attachPseudoTrafficLightDetector()

bool traffic_simulator::API::attachPseudoTrafficLightDetector ( const simulation_api_schema::PseudoTrafficLightDetectorConfiguration & configuration )

◆ cancelRequest()

template<typename... Ts>

decltype(auto) traffic_simulator::API::cancelRequest ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: cancelRequest function.

Returns: return value of the EntityManager:: cancelRequest function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ checkCollision()

template<typename... Ts>

decltype(auto) traffic_simulator::API::checkCollision ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: checkCollision function.

Returns: return value of the EntityManager:: checkCollision function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ closeZMQConnection()

void traffic_simulator::API::closeZMQConnection ( )

inline

◆ despawn()

bool traffic_simulator::API::despawn ( const std::string & name )

◆ despawnEntities()

bool traffic_simulator::API::despawnEntities ( )

◆ entityExists()

template<typename... Ts>

decltype(auto) traffic_simulator::API::entityExists ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: entityExists function.

Returns: return value of the EntityManager:: entityExists function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getBehaviorParameter()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getBehaviorParameter ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getBehaviorParameter function.

Returns: return value of the EntityManager:: getBehaviorParameter function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getBoundingBox()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getBoundingBox ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getBoundingBox function.

Returns: return value of the EntityManager:: getBoundingBox function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getCanonicalizedStatusBeforeUpdate()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getCanonicalizedStatusBeforeUpdate ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getCanonicalizedStatusBeforeUpdate function.

Returns: return value of the EntityManager:: getCanonicalizedStatusBeforeUpdate function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getConventionalTrafficLights()

auto traffic_simulator::API::getConventionalTrafficLights ( )

inline

◆ getCurrentAccel()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getCurrentAccel ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getCurrentAccel function.

Returns: return value of the EntityManager:: getCurrentAccel function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getCurrentAction()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getCurrentAction ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getCurrentAction function.

Returns: return value of the EntityManager:: getCurrentAction function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getCurrentTime()

double traffic_simulator::API::getCurrentTime ( ) const

inlinenoexcept

◆ getCurrentTwist()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getCurrentTwist ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getCurrentTwist function.

Returns: return value of the EntityManager:: getCurrentTwist function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getEgoName()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getEgoName ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getEgoName function.

Returns: return value of the EntityManager:: getEgoName function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getEntity()

auto traffic_simulator::API::getEntity ( const std::string & name ) const -> std::shared_ptr<entity::EntityBase>

◆ getEntityNames()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getEntityNames ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getEntityNames function.

Returns: return value of the EntityManager:: getEntityNames function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getEntityStatus()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getEntityStatus ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getEntityStatus function.

Returns: return value of the EntityManager:: getEntityStatus function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getHdmapUtils()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getHdmapUtils ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getHdmapUtils function.

Returns: return value of the EntityManager:: getHdmapUtils function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getLinearJerk()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getLinearJerk ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getLinearJerk function.

Returns: return value of the EntityManager:: getLinearJerk function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getROS2Parameter()

template<typename ParameterT , typename... Ts>

auto traffic_simulator::API::getROS2Parameter ( Ts &&... xs ) const -> decltype(auto)

inline

◆ getStandStillDuration()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getStandStillDuration ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getStandStillDuration function.

Returns: return value of the EntityManager:: getStandStillDuration function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getTimeHeadway()

std::optional< double > traffic_simulator::API::getTimeHeadway	(	const std::string &	from_entity_name,
		const std::string &	to_entity_name
	)

Todo:: it probably should be moved to SimulatorCore

◆ getTraveledDistance()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getTraveledDistance ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getTraveledDistance function.

Returns: return value of the EntityManager:: getTraveledDistance function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getV2ITrafficLights()

auto traffic_simulator::API::getV2ITrafficLights ( )

inline

◆ getZMQSocketPort()

template<typename Node >

int traffic_simulator::API::getZMQSocketPort ( Node & node )

inline

◆ isEgoSpawned()

template<typename... Ts>

decltype(auto) traffic_simulator::API::isEgoSpawned ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: isEgoSpawned function.

Returns: return value of the EntityManager:: isEgoSpawned function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ isInLanelet()

template<typename... Ts>

decltype(auto) traffic_simulator::API::isInLanelet ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: isInLanelet function.

Returns: return value of the EntityManager:: isInLanelet function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ isNpcLogicStarted()

template<typename... Ts>

decltype(auto) traffic_simulator::API::isNpcLogicStarted ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: isNpcLogicStarted function.

Returns: return value of the EntityManager:: isNpcLogicStarted function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ laneMatchingSucceed()

template<typename... Ts>

decltype(auto) traffic_simulator::API::laneMatchingSucceed ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: laneMatchingSucceed function.

Returns: return value of the EntityManager:: laneMatchingSucceed function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ reachPosition()

template<typename... Ts>

decltype(auto) traffic_simulator::API::reachPosition ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: reachPosition function.

Returns: return value of the EntityManager:: reachPosition function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestAcquirePosition()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestAcquirePosition ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestAcquirePosition function.

Returns: return value of the EntityManager:: requestAcquirePosition function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestAssignRoute()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestAssignRoute ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestAssignRoute function.

Returns: return value of the EntityManager:: requestAssignRoute function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestClearRoute()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestClearRoute ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestClearRoute function.

Returns: return value of the EntityManager:: requestClearRoute function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestFollowTrajectory()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestFollowTrajectory ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestFollowTrajectory function.

Returns: return value of the EntityManager:: requestFollowTrajectory function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestLaneChange() [1/5]

void traffic_simulator::API::requestLaneChange	(	const std::string &	name,
		const lane_change::AbsoluteTarget &	target,
		const lane_change::TrajectoryShape	trajectory_shape,
		const lane_change::Constraint &	constraint
	)

◆ requestLaneChange() [2/5]

void traffic_simulator::API::requestLaneChange	(	const std::string &	name,
		const lane_change::Direction &	direction
	)

◆ requestLaneChange() [3/5]

void traffic_simulator::API::requestLaneChange	(	const std::string &	name,
		const lane_change::Parameter &	parameter
	)

◆ requestLaneChange() [4/5]

void traffic_simulator::API::requestLaneChange	(	const std::string &	name,
		const lane_change::RelativeTarget &	target,
		const lane_change::TrajectoryShape	trajectory_shape,
		const lane_change::Constraint &	constraint
	)

◆ requestLaneChange() [5/5]

void traffic_simulator::API::requestLaneChange	(	const std::string &	name,
		const lanelet::Id &	lanelet_id
	)

◆ requestSpeedChange()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestSpeedChange ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestSpeedChange function.

Returns: return value of the EntityManager:: requestSpeedChange function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestSynchronize()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestSynchronize ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestSynchronize function.

Returns: return value of the EntityManager:: requestSynchronize function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ requestWalkStraight()

template<typename... Ts>

decltype(auto) traffic_simulator::API::requestWalkStraight ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: requestWalkStraight function.

Returns: return value of the EntityManager:: requestWalkStraight function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ resetBehaviorPlugin()

template<typename... Ts>

decltype(auto) traffic_simulator::API::resetBehaviorPlugin ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: resetBehaviorPlugin function.

Returns: return value of the EntityManager:: resetBehaviorPlugin function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ respawn()

auto traffic_simulator::API::respawn	(	const std::string &	name,
		const geometry_msgs::msg::PoseWithCovarianceStamped &	new_pose,
		const geometry_msgs::msg::PoseStamped &	goal_pose
	)		-> void

◆ setAcceleration()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setAcceleration ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setAcceleration function.

Returns: return value of the EntityManager:: setAcceleration function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setAccelerationLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setAccelerationLimit ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setAccelerationLimit function.

Returns: return value of the EntityManager:: setAccelerationLimit function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setAccelerationRateLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setAccelerationRateLimit ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setAccelerationRateLimit function.

Returns: return value of the EntityManager:: setAccelerationRateLimit function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setBehaviorParameter()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setBehaviorParameter ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setBehaviorParameter function.

Returns: return value of the EntityManager:: setBehaviorParameter function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setDecelerationLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setDecelerationLimit ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setDecelerationLimit function.

Returns: return value of the EntityManager:: setDecelerationLimit function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setDecelerationRateLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setDecelerationRateLimit ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setDecelerationRateLimit function.

Returns: return value of the EntityManager:: setDecelerationRateLimit function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setEntityStatus() [1/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const CanonicalizedLaneletPose &	canonicalized_lanelet_pose,
		const traffic_simulator_msgs::msg::ActionStatus &	action_status = `helper::constructActionStatus()`
	)		-> void

◆ setEntityStatus() [2/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const EntityStatus &	status
	)		-> void

◆ setEntityStatus() [3/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const geometry_msgs::msg::Pose &	map_pose,
		const traffic_simulator_msgs::msg::ActionStatus &	action_status = `helper::constructActionStatus()`
	)		-> void

◆ setEntityStatus() [4/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const LaneletPose &	lanelet_pose,
		const traffic_simulator_msgs::msg::ActionStatus &	action_status
	)		-> void

◆ setEntityStatus() [5/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const std::string &	reference_entity_name,
		const geometry_msgs::msg::Point &	relative_position,
		const geometry_msgs::msg::Vector3 &	relative_rpy,
		const traffic_simulator_msgs::msg::ActionStatus &	action_status = `helper::constructActionStatus()`
	)		-> void

◆ setEntityStatus() [6/6]

auto traffic_simulator::API::setEntityStatus	(	const std::string &	name,
		const std::string &	reference_entity_name,
		const geometry_msgs::msg::Pose &	relative_pose,
		const traffic_simulator_msgs::msg::ActionStatus &	action_status = `helper::constructActionStatus()`
	)		-> void

◆ setLinearVelocity()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setLinearVelocity ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setLinearVelocity function.

Returns: return value of the EntityManager:: setLinearVelocity function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setMapPose()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setMapPose ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setMapPose function.

Returns: return value of the EntityManager:: setMapPose function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setTwist()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setTwist ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setTwist function.

Returns: return value of the EntityManager:: setTwist function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setVelocityLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::API::setVelocityLimit ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: setVelocityLimit function.

Returns: return value of the EntityManager:: setVelocityLimit function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ setVerbose()

void traffic_simulator::API::setVerbose ( const bool verbose )

◆ spawn() [1/3]

template<typename Pose >

auto traffic_simulator::API::spawn	(	const std::string &	name,
		const Pose &	pose,
		const traffic_simulator_msgs::msg::MiscObjectParameters &	parameters,
		const std::string &	model3d = `""`
	)

inline

◆ spawn() [2/3]

template<typename Pose >

auto traffic_simulator::API::spawn	(	const std::string &	name,
		const Pose &	pose,
		const traffic_simulator_msgs::msg::PedestrianParameters &	parameters,
		const std::string &	behavior = `PedestrianBehavior::defaultBehavior()`,
		const std::string &	model3d = `""`
	)

inline

◆ spawn() [3/3]

template<typename Pose >

auto traffic_simulator::API::spawn	(	const std::string &	name,
		const Pose &	pose,
		const traffic_simulator_msgs::msg::VehicleParameters &	parameters,
		const std::string &	behavior = `VehicleBehavior::defaultBehavior()`,
		const std::string &	model3d = `""`
	)

inline

Todo:: Should be filled from function API

◆ startNpcLogic()

void traffic_simulator::API::startNpcLogic ( )

◆ updateFrame()

bool traffic_simulator::API::updateFrame ( )

The documentation for this class was generated from the following files:

simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
simulation/traffic_simulator/src/api/api.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ API()

Member Function Documentation

◆ activateOutOfRangeJob()

◆ addTrafficSource()

◆ asFieldOperatorApplication()

◆ attachDetectionSensor() [1/2]

◆ attachDetectionSensor() [2/2]

◆ attachImuSensor()

◆ attachLidarSensor() [1/2]

◆ attachLidarSensor() [2/2]

◆ attachOccupancyGridSensor()

◆ attachPseudoTrafficLightDetector()

◆ cancelRequest()

◆ checkCollision()

◆ closeZMQConnection()

◆ despawn()

◆ despawnEntities()

◆ entityExists()

◆ getBehaviorParameter()

◆ getBoundingBox()

◆ getCanonicalizedStatusBeforeUpdate()

◆ getConventionalTrafficLights()

◆ getCurrentAccel()

◆ getCurrentAction()

◆ getCurrentTime()

◆ getCurrentTwist()

◆ getEgoName()

◆ getEntity()

◆ getEntityNames()

◆ getEntityStatus()

◆ getHdmapUtils()

◆ getLinearJerk()

◆ getROS2Parameter()

◆ getStandStillDuration()

◆ getTimeHeadway()

◆ getTraveledDistance()

◆ getV2ITrafficLights()

◆ getZMQSocketPort()

◆ isEgoSpawned()

◆ isInLanelet()

◆ isNpcLogicStarted()

◆ laneMatchingSucceed()

◆ reachPosition()

◆ requestAcquirePosition()

◆ requestAssignRoute()

◆ requestClearRoute()

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/5]

◆ requestLaneChange() [2/5]

◆ requestLaneChange() [3/5]

◆ requestLaneChange() [4/5]

◆ requestLaneChange() [5/5]

◆ requestSpeedChange()

◆ requestSynchronize()

◆ requestWalkStraight()

◆ resetBehaviorPlugin()

◆ respawn()

◆ setAcceleration()

◆ setAccelerationLimit()

◆ setAccelerationRateLimit()

◆ setBehaviorParameter()

◆ setDecelerationLimit()

◆ setDecelerationRateLimit()

◆ setEntityStatus() [1/6]

◆ setEntityStatus() [2/6]

◆ setEntityStatus() [3/6]

◆ setEntityStatus() [4/6]

◆ setEntityStatus() [5/6]

◆ setEntityStatus() [6/6]

◆ setLinearVelocity()

◆ setMapPose()

◆ setTwist()

◆ setVelocityLimit()

◆ setVerbose()

◆ spawn() [1/3]

◆ spawn() [2/3]

◆ spawn() [3/3]

◆ startNpcLogic()