#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 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="")

geometry_msgs::msg::Pose	toMapPose (const geometry_msgs::msg::Pose &pose)

geometry_msgs::msg::Pose	toMapPose (const traffic_simulator_msgs::msg::LaneletPose &pose)

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	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 CanonicalizedEntityStatus &) -> 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 CanonicalizedLaneletPose &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)

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)

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)	getBoundingBoxDistance (Ts &&... xs)
	Forward to arguments to the EntityManager:: getBoundingBoxDistance function. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

template<typename... Ts>
decltype(auto)	getRelativePose (Ts &&... xs)
	Forward to arguments to the EntityManager:: getRelativePose 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)	getV2ITrafficLight (Ts &&... xs)
	Forward to arguments to the EntityManager:: getV2ITrafficLight function. More...

template<typename... Ts>
decltype(auto)	getV2ITrafficLights (Ts &&... xs)
	Forward to arguments to the EntityManager:: getV2ITrafficLights 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)	requestWalkStraight (Ts &&... xs)
	Forward to arguments to the EntityManager:: requestWalkStraight function. More...

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

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

template<typename... Ts>
decltype(auto)	resetV2ITrafficLightPublishRate (Ts &&... xs)
	Forward to arguments to the EntityManager:: resetV2ITrafficLightPublishRate 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)	setConventionalTrafficLightConfidence (Ts &&... xs)
	Forward to arguments to the EntityManager:: setConventionalTrafficLightConfidence 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...

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

auto	canonicalize (const LaneletPose &maybe_non_canonicalized_lanelet_pose) const -> CanonicalizedLaneletPose

auto	canonicalize (const EntityStatus &may_non_canonicalized_entity_status) const -> CanonicalizedEntityStatus

auto	toLaneletPose (const geometry_msgs::msg::Pose &map_pose, bool include_crosswalk) const -> std::optional< CanonicalizedLaneletPose >

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.

◆ 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
	)

◆ 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.

◆ canonicalize() [1/2]

auto traffic_simulator::API::canonicalize ( const EntityStatus & may_non_canonicalized_entity_status ) const -> CanonicalizedEntityStatus

◆ canonicalize() [2/2]

auto traffic_simulator::API::canonicalize ( const LaneletPose & maybe_non_canonicalized_lanelet_pose ) const -> CanonicalizedLaneletPose

◆ 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.

◆ getBoundingBoxDistance()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getBoundingBoxDistance function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getBoundingBoxLaneLateralDistance()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getBoundingBoxLaneLateralDistance function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getBoundingBoxLaneLongitudinalDistance()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getBoundingBoxLaneLongitudinalDistance function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getBoundingBoxRelativePose()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getBoundingBoxRelativePose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getConventionalTrafficLight()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getConventionalTrafficLight function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getConventionalTrafficLights()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getConventionalTrafficLights function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ 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.

◆ getDistanceToLaneBound()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getDistanceToLaneBound function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getDistanceToLeftLaneBound()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getDistanceToLeftLaneBound function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getDistanceToRightLaneBound()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getDistanceToRightLaneBound function.

Returns: return value of the EntityManager:: getDistanceToRightLaneBound 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.

◆ 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.

◆ getEntityStatusBeforeUpdate()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getEntityStatusBeforeUpdate function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getLaneletLength()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getLaneletLength function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getLaneletPose()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getLaneletPose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getLateralDistance()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getLateralDistance function.

Returns: return value of the EntityManager:: getLateralDistance 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.

◆ getLongitudinalDistance()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getLongitudinalDistance function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getMapPose()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getMapPose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getMapPoseFromRelativePose()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getMapPoseFromRelativePose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getRelativePose()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getRelativePose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ 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,
		const std::string &	to
	)

◆ 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.

◆ getV2ITrafficLight()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getV2ITrafficLight ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getV2ITrafficLight function.

Returns: return value of the EntityManager:: getV2ITrafficLight function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getV2ITrafficLights()

template<typename... Ts>

decltype(auto) traffic_simulator::API::getV2ITrafficLights ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: getV2ITrafficLights function.

Returns: return value of the EntityManager:: getV2ITrafficLights function.

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ 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.

◆ 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.

◆ 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.

◆ resetConventionalTrafficLightPublishRate()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: resetConventionalTrafficLightPublishRate function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ resetV2ITrafficLightPublishRate()

template<typename... Ts>

decltype(auto) traffic_simulator::API::resetV2ITrafficLightPublishRate ( Ts &&... xs )

inline

Forward to arguments to the EntityManager:: resetV2ITrafficLightPublishRate function.

Returns: return value of the EntityManager:: resetV2ITrafficLightPublishRate 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.

◆ setConventionalTrafficLightConfidence()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: setConventionalTrafficLightConfidence function.

Returns: return value of the EntityManager:: setConventionalTrafficLightConfidence 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() [1/5]

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

◆ setEntityStatus() [2/5]

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

◆ setEntityStatus() [3/5]

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() [4/5]

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() [5/5]

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 ( )

◆ toLaneletPose()

auto traffic_simulator::API::toLaneletPose	(	const geometry_msgs::msg::Pose &	map_pose,
		bool	include_crosswalk
	)		const -> std::optional<CanonicalizedLaneletPose>

◆ toMapPose() [1/3]

geometry_msgs::msg::Pose traffic_simulator::API::toMapPose ( const geometry_msgs::msg::Pose & pose )

inline

◆ toMapPose() [2/3]

geometry_msgs::msg::Pose traffic_simulator::API::toMapPose ( const traffic_simulator_msgs::msg::LaneletPose & pose )

inline

◆ toMapPose() [3/3]

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: toMapPose function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ 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()

◆ asFieldOperatorApplication()

◆ attachDetectionSensor() [1/2]

◆ attachDetectionSensor() [2/2]

◆ attachLidarSensor() [1/2]

◆ attachLidarSensor() [2/2]

◆ attachOccupancyGridSensor()

◆ attachPseudoTrafficLightDetector()

◆ cancelRequest()

◆ canonicalize() [1/2]

◆ canonicalize() [2/2]

◆ checkCollision()

◆ closeZMQConnection()

◆ despawn()

◆ despawnEntities()

◆ entityExists()

◆ getBehaviorParameter()

◆ getBoundingBox()

◆ getBoundingBoxDistance()

◆ getBoundingBoxLaneLateralDistance()

◆ getBoundingBoxLaneLongitudinalDistance()

◆ getBoundingBoxRelativePose()

◆ getConventionalTrafficLight()

◆ getConventionalTrafficLights()

◆ getCurrentAccel()

◆ getCurrentAction()

◆ getCurrentTime()

◆ getCurrentTwist()

◆ getDistanceToLaneBound()

◆ getDistanceToLeftLaneBound()

◆ getDistanceToRightLaneBound()

◆ getEgoName()

◆ getEntityNames()

◆ getEntityStatus()

◆ getEntityStatusBeforeUpdate()

◆ getLaneletLength()

◆ getLaneletPose()

◆ getLateralDistance()

◆ getLinearJerk()

◆ getLongitudinalDistance()

◆ getMapPose()

◆ getMapPoseFromRelativePose()

◆ getRelativePose()

◆ getStandStillDuration()

◆ getTimeHeadway()

◆ getTraveledDistance()

◆ getV2ITrafficLight()

◆ getV2ITrafficLights()

◆ getZMQSocketPort()

◆ isEgoSpawned()

◆ isInLanelet()

◆ isNpcLogicStarted()

◆ laneMatchingSucceed()

◆ reachPosition()

◆ requestAcquirePosition()

◆ requestAssignRoute()

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/5]

◆ requestLaneChange() [2/5]

◆ requestLaneChange() [3/5]

◆ requestLaneChange() [4/5]

◆ requestLaneChange() [5/5]

◆ requestSpeedChange()

◆ requestWalkStraight()

◆ resetBehaviorPlugin()

◆ resetConventionalTrafficLightPublishRate()

◆ resetV2ITrafficLightPublishRate()

◆ respawn()

◆ setAcceleration()

◆ setAccelerationLimit()

◆ setAccelerationRateLimit()

◆ setBehaviorParameter()

◆ setConventionalTrafficLightConfidence()

◆ setDecelerationLimit()

◆ setDecelerationRateLimit()

◆ setEntityStatus() [1/5]