traffic_simulator::API Class Reference

#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)
auto	init () -> bool
auto	setVerbose (const bool verbose) -> void
auto	setSimulationStepTime (const double step_time) -> bool
auto	startNpcLogic () -> void
auto	isNpcLogicStarted () const -> bool
auto	getCurrentTime () const noexcept -> double
auto	closeZMQConnection () -> void
auto	updateFrame () -> bool
template<typename PoseType , typename ParamsType , typename = std::enable_if_t<std::disjunction_v< std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::VehicleParameters>, std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::PedestrianParameters>, std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::MiscObjectParameters>>>>
auto	spawn (const std::string &name, const PoseType &pose, const ParamsType &parameters, const std::string &behavior="", const std::string &model3d="") -> entity::EntityBase &
auto	attachImuSensor (const std::string &, const simulation_api_schema::ImuSensorConfiguration &configuration) -> bool
auto	attachPseudoTrafficLightDetector (const simulation_api_schema::PseudoTrafficLightDetectorConfiguration &) -> bool
auto	attachLidarSensor (const simulation_api_schema::LidarConfiguration &) -> bool
auto	attachLidarSensor (const std::string &, const double lidar_sensor_delay, const helper::LidarType=helper::LidarType::VLP16) -> bool
auto	attachDetectionSensor (const simulation_api_schema::DetectionSensorConfiguration &) -> bool
auto	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
auto	attachOccupancyGridSensor (const simulation_api_schema::OccupancyGridSensorConfiguration &) -> bool
auto	isAnyEgoSpawned () const -> bool
auto	getFirstEgoName () const -> std::optional< std::string >
auto	getEgoEntity (const std::string &name) -> entity::EgoEntity &
auto	getEgoEntity (const std::string &name) const -> const entity::EgoEntity &
auto	isEntityExist (const std::string &name) const -> bool
auto	getEntityNames () const -> std::vector< std::string >
auto	getEntity (const std::string &name) -> entity::EntityBase &
auto	getEntity (const std::string &name) const -> const entity::EntityBase &
auto	getEntityPointer (const std::string &name) const -> std::shared_ptr< entity::EntityBase >
auto	resetBehaviorPlugin (const std::string &name, const std::string &behavior_plugin_name) -> void
auto	respawn (const std::string &name, const geometry_msgs::msg::PoseWithCovarianceStamped &new_pose, const geometry_msgs::msg::PoseStamped &goal_pose) -> void
auto	despawn (const std::string &name) -> bool
auto	despawnEntities () -> bool
auto	checkCollision (const std::string &first_entity_name, const std::string &second_entity_name) const -> bool
auto	getHdmapUtils () const -> const std::shared_ptr< hdmap_utils::HdMapUtils > &
auto	getV2ITrafficLights () const -> std::shared_ptr< V2ITrafficLights >
auto	getConventionalTrafficLights () const -> std::shared_ptr< ConventionalTrafficLights >
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...

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

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

attachDetectionSensor() [1/2]

auto traffic_simulator::API::attachDetectionSensor

(

const simulation_api_schema::DetectionSensorConfiguration &

sensor_configuration

)

-> bool

attachDetectionSensor() [2/2]

auto 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
	)		-> bool

attachImuSensor()

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

attachLidarSensor() [1/2]

auto traffic_simulator::API::attachLidarSensor

(

const simulation_api_schema::LidarConfiguration &

lidar_configuration

)

-> bool

attachLidarSensor() [2/2]

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

attachOccupancyGridSensor()

auto traffic_simulator::API::attachOccupancyGridSensor

(

const simulation_api_schema::OccupancyGridSensorConfiguration &

sensor_configuration

)

-> bool

attachPseudoTrafficLightDetector()

auto traffic_simulator::API::attachPseudoTrafficLightDetector

(

const simulation_api_schema::PseudoTrafficLightDetectorConfiguration &

configuration

)

-> bool

checkCollision()

auto traffic_simulator::API::checkCollision	(	const std::string &	first_entity_name,
		const std::string &	second_entity_name
	)		const -> bool

closeZMQConnection()

auto traffic_simulator::API::closeZMQConnection

(

)

-> void

despawn()

auto traffic_simulator::API::despawn

(

const std::string &

name

)

-> bool

despawnEntities()

auto traffic_simulator::API::despawnEntities

(

)

-> bool

getConventionalTrafficLights()

auto traffic_simulator::API::getConventionalTrafficLights

(

)

const -> std::shared_ptr<ConventionalTrafficLights>

getCurrentTime()

auto traffic_simulator::API::getCurrentTime ( ) const -> double

noexcept

getEgoEntity() [1/2]

auto traffic_simulator::API::getEgoEntity

(

const std::string &

name

)

-> entity::EgoEntity &

getEgoEntity() [2/2]

auto traffic_simulator::API::getEgoEntity

(

const std::string &

name

)

const -> const entity::EgoEntity &

getEntity() [1/2]

auto traffic_simulator::API::getEntity

(

const std::string &

name

)

-> entity::EntityBase &

getEntity() [2/2]

auto traffic_simulator::API::getEntity

(

const std::string &

name

)

const -> const entity::EntityBase &

getEntityNames()

auto traffic_simulator::API::getEntityNames

(

)

const -> std::vector<std::string>

getEntityPointer()

auto traffic_simulator::API::getEntityPointer

(

const std::string &

name

)

const -> std::shared_ptr<entity::EntityBase>

getFirstEgoName()

auto traffic_simulator::API::getFirstEgoName

(

)

const -> std::optional<std::string>

getHdmapUtils()

auto traffic_simulator::API::getHdmapUtils

(

)

const -> const std::shared_ptr<hdmap_utils::HdMapUtils> &

getROS2Parameter()

template<typename ParameterT , typename... Ts>

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

inline

getV2ITrafficLights()

auto traffic_simulator::API::getV2ITrafficLights

(

)

const -> std::shared_ptr<V2ITrafficLights>

init()

auto traffic_simulator::API::init

(

)

-> bool

isAnyEgoSpawned()

auto traffic_simulator::API::isAnyEgoSpawned

(

)

const -> bool

isEntityExist()

auto traffic_simulator::API::isEntityExist

(

const std::string &

name

)

const -> bool

isNpcLogicStarted()

auto traffic_simulator::API::isNpcLogicStarted

(

)

const -> bool

resetBehaviorPlugin()

auto traffic_simulator::API::resetBehaviorPlugin	(	const std::string &	name,
		const std::string &	behavior_plugin_name
	)		-> void

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

setSimulationStepTime()

auto traffic_simulator::API::setSimulationStepTime

(

const double

step_time

)

-> bool

Note

Pausing the simulation by setting the realtime_factor_ value to 0 is not supported and causes the simulation crash. For that reason, before performing the action, it needs to be ensured that the incoming request data is a positive number.

setVerbose()

auto traffic_simulator::API::setVerbose

(

const bool

verbose

)

-> void

spawn()

template<typename PoseType , typename ParamsType , typename = std::enable_if_t<std::disjunction_v< std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::VehicleParameters>, std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::PedestrianParameters>, std::is_same<std::decay_t<ParamsType>, traffic_simulator_msgs::msg::MiscObjectParameters>>>>

auto traffic_simulator::API::spawn ( const std::string &  name, const PoseType &  pose, const ParamsType &  parameters, const std::string &  behavior = "", const std::string &  model3d = ""  ) -> entity::EntityBase &

inline

Todo:

Should be filled from function API

startNpcLogic()

auto traffic_simulator::API::startNpcLogic

(

)

-> void

updateFrame()

auto traffic_simulator::API::updateFrame

(

)

-> bool

---

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