#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 ()

bool	checkCollision (const std::string &first_entity_name, const std::string &second_entity_name)

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

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 ()

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) -> entity::EntityBase &

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

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

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

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

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

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

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

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

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

◆ 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]

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 )

◆ checkCollision()

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

◆ closeZMQConnection()

void traffic_simulator::API::closeZMQConnection ( )

inline

◆ despawn()

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

◆ despawnEntities()

bool traffic_simulator::API::despawnEntities ( )

◆ getConventionalTrafficLights()

auto traffic_simulator::API::getConventionalTrafficLights ( )

inline

◆ getCurrentTime()

double traffic_simulator::API::getCurrentTime ( ) const

inlinenoexcept

◆ getEgoEntity()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getEgoEntity function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ 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()

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.

◆ getEntityPointer()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getEntityPointer function.

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

Note: This function was defined by FORWARD_TO_ENTITY_MANAGER macro.

◆ getFirstEgoName()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: getFirstEgoName function.

Returns: return value of the EntityManager:: getFirstEgoName 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.

◆ getROS2Parameter()

template<typename ParameterT , typename... Ts>

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

inline

◆ getV2ITrafficLights()

auto traffic_simulator::API::getV2ITrafficLights ( )

inline

◆ getZMQSocketPort()

template<typename Node >

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

inline

◆ isEntityExist()

template<typename... Ts>

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

inline

Forward to arguments to the EntityManager:: isEntityExist function.

Returns: return value of the EntityManager:: isEntityExist 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.

◆ 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

◆ 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

◆ addTrafficSource()

◆ attachDetectionSensor() [1/2]

◆ attachDetectionSensor() [2/2]

◆ attachImuSensor()

◆ attachLidarSensor() [1/2]

◆ attachLidarSensor() [2/2]

◆ attachOccupancyGridSensor()

◆ attachPseudoTrafficLightDetector()

◆ checkCollision()

◆ closeZMQConnection()

◆ despawn()

◆ despawnEntities()

◆ getConventionalTrafficLights()

◆ getCurrentTime()

◆ getEgoEntity()

◆ getEntity() [1/2]

◆ getEntity() [2/2]

◆ getEntityNames()

◆ getEntityPointer()

◆ getFirstEgoName()

◆ getHdmapUtils()

◆ getROS2Parameter()

◆ getV2ITrafficLights()

◆ getZMQSocketPort()

◆ isEntityExist()

◆ isNpcLogicStarted()

◆ resetBehaviorPlugin()

◆ respawn()

◆ setVerbose()

◆ spawn() [1/3]

◆ spawn() [2/3]

◆ spawn() [3/3]

◆ startNpcLogic()

◆ updateFrame()