traffic_simulator::entity::EgoEntity Class Reference

#include <ego_entity.hpp>

Inheritance diagram for traffic_simulator::entity::EgoEntity:

Collaboration diagram for traffic_simulator::entity::EgoEntity:

Public Member Functions
	EgoEntity ()=delete
	EgoEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::VehicleParameters &, const Configuration &, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &)
	EgoEntity (EgoEntity &&)=delete
	EgoEntity (const EgoEntity &)=delete
	~EgoEntity () override=default
auto	operator= (EgoEntity &&) -> EgoEntity &=delete
auto	operator= (const EgoEntity &) -> EgoEntity &=delete
auto	getCurrentAction () const -> std::string override
auto	getCurrentPose () const -> const geometry_msgs::msg::Pose &
auto	getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &override
auto	getBehaviorParameter () const -> traffic_simulator_msgs::msg::BehaviorParameter override
auto	getEntityStatus (const double, const double) const -> const CanonicalizedEntityStatus
auto	getEntityTypename () const -> const std::string &override
auto	getObstacle () -> std::optional< traffic_simulator_msgs::msg::Obstacle > override
auto	getRouteLanelets (double horizon=100) -> lanelet::Ids override
auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override
auto	updateFieldOperatorApplication () -> void
void	onUpdate (double current_time, double step_time) override
void	requestAcquirePosition (const CanonicalizedLaneletPose &) override
void	requestAcquirePosition (const geometry_msgs::msg::Pose &map_pose) override
void	requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &) override
void	requestAssignRoute (const std::vector< geometry_msgs::msg::Pose > &) override
auto	requestFollowTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &) -> void override
auto	requestLaneChange (const lanelet::Id) -> void override
auto	requestLaneChange (const lane_change::Parameter &) -> void override
auto	requestSpeedChange (const double, const speed_change::Transition, const speed_change::Constraint, const bool continuous) -> void override
auto	requestSpeedChange (const speed_change::RelativeTargetSpeed &, const speed_change::Transition, const speed_change::Constraint, const bool continuous) -> void override
auto	requestClearRoute () -> void
auto	requestReplanRoute (const std::vector< geometry_msgs::msg::PoseStamped > &route) -> void
auto	requestAutoModeForCooperation (const std::string &module_name, bool enable) -> void
auto	isControlledBySimulator () const -> bool override
auto	setControlledBySimulator (bool state) -> void override
auto	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &) -> void override
void	requestSpeedChange (double, bool continuous) override
void	requestSpeedChange (const speed_change::RelativeTargetSpeed &target_speed, bool continuous) override
auto	setVelocityLimit (double) -> void override
auto	setMapPose (const geometry_msgs::msg::Pose &map_pose) -> void override
template<typename ParameterType >
auto	setParameter (const std::string &name, const ParameterType &default_value={}) -> ParameterType
template<typename... Ts>
auto	setStatus (Ts &&... xs) -> void
auto	engage () -> void
auto	isEngaged () const -> bool
auto	isEngageable () const -> bool
auto	sendCooperateCommand (const std::string &module_name, const std::string &command) -> void
auto	getMinimumRiskManeuverBehaviorName () const -> std::string
auto	getMinimumRiskManeuverStateName () const -> std::string
auto	getEmergencyStateName () const -> std::string
auto	getTurnIndicatorsCommandName () const -> std::string
Public Member Functions inherited from traffic_simulator::entity::VehicleEntity
	VehicleEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::VehicleParameters &, const std::string &plugin_name=BuiltinBehavior::defaultBehavior())
	~VehicleEntity () override=default
void	appendDebugMarker (visualization_msgs::msg::MarkerArray &marker_array) override
void	cancelRequest () override
auto	getCurrentAction () const -> std::string override
auto	getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &override
auto	getDefaultMatchingDistanceForLaneletPoseCalculation () const -> double override
auto	getBehaviorParameter () const -> traffic_simulator_msgs::msg::BehaviorParameter override
auto	getMaxAcceleration () const -> double override
auto	getMaxDeceleration () const -> double override
auto	getEntityTypename () const -> const std::string &override
auto	getGoalPoses () -> std::vector< CanonicalizedLaneletPose > override
auto	getParameters () const -> const traffic_simulator_msgs::msg::VehicleParameters &
auto	getObstacle () -> std::optional< traffic_simulator_msgs::msg::Obstacle > override
auto	getRouteLanelets (double horizon=100) -> lanelet::Ids override
auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override
auto	onUpdate (const double current_time, const double step_time) -> void override
void	requestAcquirePosition (const CanonicalizedLaneletPose &)
void	requestAcquirePosition (const geometry_msgs::msg::Pose &map_pose) override
void	requestAssignRoute (const std::vector< geometry_msgs::msg::Pose > &) override
void	requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &) override
auto	requestFollowTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &) -> void override
auto	requestLaneChange (const lanelet::Id to_lanelet_id) -> void override
auto	requestLaneChange (const traffic_simulator::lane_change::Parameter &) -> void override
void	setVelocityLimit (double linear_velocity) override
void	setAccelerationLimit (double acceleration) override
void	setAccelerationRateLimit (double acceleration_rate) override
void	setDecelerationLimit (double deceleration) override
void	setDecelerationRateLimit (double deceleration_rate) override
void	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &) override
void	setTrafficLights (const std::shared_ptr< traffic_simulator::TrafficLightsBase > &) override
Public Member Functions inherited from traffic_simulator::entity::EntityBase
	EntityBase (const std::string &name, const CanonicalizedEntityStatus &entity_status, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr)
	EntityBase (const EntityBase &)=delete
EntityBase &	operator= (const EntityBase &)=delete
	EntityBase (EntityBase &&) noexcept=delete
EntityBase &	operator= (EntityBase &&) noexcept=delete
virtual	~EntityBase ()=default
template<typename EntityType >
auto	is () const -> bool
template<typename EntityType >
auto	as () -> EntityType &
template<typename EntityType >
auto	as () const -> const EntityType &
auto	getBoundingBox () const noexcept -> const traffic_simulator_msgs::msg::BoundingBox &
	Get BoundingBox of the entity. More...
auto	getCanonicalizedStatus () const noexcept -> const CanonicalizedEntityStatus &
	Get CanonicalizedStatus of the entity. More...
auto	getCanonicalizedStatusBeforeUpdate () const noexcept -> const CanonicalizedEntityStatus &
	Get CanonicalizedStatusBeforeUpdate of the entity. More...
auto	getCurrentAccel () const noexcept -> const geometry_msgs::msg::Accel &
	Get CurrentAccel of the entity. More...
auto	getCurrentTwist () const noexcept -> const geometry_msgs::msg::Twist &
	Get CurrentTwist of the entity. More...
auto	getDynamicConstraints () const noexcept -> traffic_simulator_msgs::msg::DynamicConstraints
	Get DynamicConstraints of the entity. More...
auto	getEntitySubtype () const noexcept -> const traffic_simulator_msgs::msg::EntitySubtype &
	Get EntitySubtype of the entity. More...
auto	getEntityType () const noexcept -> const traffic_simulator_msgs::msg::EntityType &
	Get EntityType of the entity. More...
auto	getLinearJerk () const noexcept -> double
	Get LinearJerk of the entity. More...
auto	getMapPose () const noexcept -> const geometry_msgs::msg::Pose &
	Get MapPose of the entity. More...
auto	getStandStillDuration () const noexcept -> double
	Get StandStillDuration of the entity. More...
auto	getTraveledDistance () const noexcept -> double
	Get TraveledDistance of the entity. More...
auto	getName () const noexcept -> const std::string &
	Get Name of the entity. More...
auto	get2DPolygon () const -> std::vector< geometry_msgs::msg::Point >
auto	isStopped () const -> bool
auto	isNearbyPosition (const geometry_msgs::msg::Pose &pose, const double tolerance) const -> bool
auto	isNearbyPosition (const CanonicalizedLaneletPose &lanelet_pose, const double tolerance) const -> bool
auto	isInLanelet () const -> bool
auto	isInLanelet (const lanelet::Id lanelet_id, std::optional< double > tolerance=std::nullopt) const -> bool
auto	getCanonicalizedLaneletPose () const -> std::optional< CanonicalizedLaneletPose >
auto	getCanonicalizedLaneletPose (const double matching_distance) const -> std::optional< CanonicalizedLaneletPose >
virtual auto	onPostUpdate (const double current_time, const double step_time) -> void
void	resetDynamicConstraints ()
auto	requestLaneChange (const lane_change::Direction &direction) -> void
auto	requestLaneChange (const lane_change::AbsoluteTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint) -> void
auto	requestLaneChange (const lane_change::RelativeTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint) -> void
virtual void	requestWalkStraight ()
void	setDynamicConstraints (const traffic_simulator_msgs::msg::DynamicConstraints &constraints)
void	setOtherStatus (const std::unordered_map< std::string, CanonicalizedEntityStatus > &status)
auto	setCanonicalizedStatus (const CanonicalizedEntityStatus &status) -> void
virtual auto	setStatus (const EntityStatus &status) -> void
virtual auto	setStatus (const EntityStatus &status, const lanelet::Ids &lanelet_ids) -> void
virtual auto	setStatus (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void
virtual auto	setStatus (const geometry_msgs::msg::Pose &reference_pose, const geometry_msgs::msg::Pose &relative_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void
virtual auto	setStatus (const geometry_msgs::msg::Pose &reference_pose, 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
virtual auto	setStatus (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void
virtual auto	setStatus (const LaneletPose &lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void
virtual auto	setLinearAcceleration (const double linear_acceleration) -> void
virtual auto	setLinearVelocity (const double linear_velocity) -> void
virtual auto	activateOutOfRangeJob (const double min_velocity, const double max_velocity, const double min_acceleration, const double max_acceleration, const double min_jerk, const double max_jerk) -> void
auto	setTwist (const geometry_msgs::msg::Twist &twist) -> void
auto	setAcceleration (const geometry_msgs::msg::Accel &accel) -> void
auto	setAction (const std::string &action) -> void
auto	setLinearJerk (const double liner_jerk) -> void
void	stopAtCurrentPosition ()
void	updateEntityStatusTimestamp (const double current_time)
auto	requestSynchronize (const std::string &target_name, const CanonicalizedLaneletPose &target_sync_pose, const CanonicalizedLaneletPose &entity_target, const double target_speed, const double tolerance) -> bool

Additional Inherited Members
Public Attributes inherited from traffic_simulator::entity::VehicleEntity
const traffic_simulator_msgs::msg::VehicleParameters	vehicle_parameters
Public Attributes inherited from traffic_simulator::entity::EntityBase
const std::string	name
bool	verbose
Protected Attributes inherited from traffic_simulator::entity::EntityBase
std::shared_ptr< CanonicalizedEntityStatus >	status_
CanonicalizedEntityStatus	status_before_update_
std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils_ptr_
std::shared_ptr< traffic_simulator::TrafficLightsBase >	traffic_lights_
double	stand_still_duration_ = 0.0
double	traveled_distance_ = 0.0
double	prev_job_duration_ = 0.0
double	step_time_ = 0.0
std::unordered_map< std::string, CanonicalizedEntityStatus >	other_status_
std::optional< double >	target_speed_
traffic_simulator::job::JobList	job_list_
std::unique_ptr< traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner >	speed_planner_

Constructor & Destructor Documentation

EgoEntity() [1/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( )

explicitdelete

EgoEntity() [2/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( const std::string &  name, const CanonicalizedEntityStatus &  entity_status, const std::shared_ptr< hdmap_utils::HdMapUtils > &  hdmap_utils_ptr, const traffic_simulator_msgs::msg::VehicleParameters &  parameters, const Configuration &  configuration, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &  node_parameters  )

explicit

EgoEntity() [3/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( EgoEntity &&  )

explicitdelete

EgoEntity() [4/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( const EgoEntity &  )

explicitdelete

~EgoEntity()

traffic_simulator::entity::EgoEntity::~EgoEntity ( )

overridedefault

Member Function Documentation

engage()

auto traffic_simulator::entity::EgoEntity::engage

(

)

-> void

getBehaviorParameter()

auto traffic_simulator::entity::EgoEntity::getBehaviorParameter ( ) const -> traffic_simulator_msgs::msg::BehaviorParameter

overridevirtual

TODO, Input values get from autoware.

Implements traffic_simulator::entity::EntityBase.

getCurrentAction()

auto traffic_simulator::entity::EgoEntity::getCurrentAction ( ) const -> std::string

overridevirtual

Implements traffic_simulator::entity::EntityBase.

getCurrentPose()

auto traffic_simulator::entity::EgoEntity::getCurrentPose

(

)

const -> const geometry_msgs::msg::Pose &

getDefaultDynamicConstraints()

auto traffic_simulator::entity::EgoEntity::getDefaultDynamicConstraints ( ) const -> const traffic_simulator_msgs::msg::DynamicConstraints &

overridevirtual

Implements traffic_simulator::entity::EntityBase.

getEmergencyStateName()

auto traffic_simulator::entity::EgoEntity::getEmergencyStateName

(

)

const -> std::string

getEntityStatus()

auto traffic_simulator::entity::EgoEntity::getEntityStatus	(	const double	,
		const double
	)		const -> const CanonicalizedEntityStatus

getEntityTypename()

auto traffic_simulator::entity::EgoEntity::getEntityTypename ( ) const -> const std::string &

overridevirtual

Implements traffic_simulator::entity::EntityBase.

getMinimumRiskManeuverBehaviorName()

auto traffic_simulator::entity::EgoEntity::getMinimumRiskManeuverBehaviorName

(

)

const -> std::string

getMinimumRiskManeuverStateName()

auto traffic_simulator::entity::EgoEntity::getMinimumRiskManeuverStateName

(

)

const -> std::string

getObstacle()

auto traffic_simulator::entity::EgoEntity::getObstacle ( ) -> std::optional<traffic_simulator_msgs::msg::Obstacle>

overridevirtual

Implements traffic_simulator::entity::EntityBase.

getRouteLanelets()

auto traffic_simulator::entity::EgoEntity::getRouteLanelets ( double  horizon = 100 ) -> lanelet::Ids

overridevirtual

Implements traffic_simulator::entity::EntityBase.

getTurnIndicatorsCommandName()

auto traffic_simulator::entity::EgoEntity::getTurnIndicatorsCommandName

(

)

const -> std::string

getWaypoints()

auto traffic_simulator::entity::EgoEntity::getWaypoints ( ) -> const traffic_simulator_msgs::msg::WaypointsArray

overridevirtual

Note

return empty array because this function is used for visualization Autoware's trajectory is already visualized in RViz there is no need to visualize it second time

Implements traffic_simulator::entity::EntityBase.

isControlledBySimulator()

auto traffic_simulator::entity::EgoEntity::isControlledBySimulator ( ) const -> bool

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

isEngageable()

auto traffic_simulator::entity::EgoEntity::isEngageable

(

)

const -> bool

isEngaged()

auto traffic_simulator::entity::EgoEntity::isEngaged

(

)

const -> bool

onUpdate()

void traffic_simulator::entity::EgoEntity::onUpdate ( double  current_time, double  step_time  )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

operator=() [1/2]

auto traffic_simulator::entity::EgoEntity::operator= ( const EgoEntity &  ) -> EgoEntity &=delete

delete

operator=() [2/2]

auto traffic_simulator::entity::EgoEntity::operator= ( EgoEntity &&  ) -> EgoEntity &=delete

delete

requestAcquirePosition() [1/2]

void traffic_simulator::entity::EgoEntity::requestAcquirePosition ( const CanonicalizedLaneletPose &  lanelet_pose )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

requestAcquirePosition() [2/2]

void traffic_simulator::entity::EgoEntity::requestAcquirePosition ( const geometry_msgs::msg::Pose &  map_pose )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

requestAssignRoute() [1/2]

void traffic_simulator::entity::EgoEntity::requestAssignRoute ( const std::vector< CanonicalizedLaneletPose > &  waypoints )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

requestAssignRoute() [2/2]

void traffic_simulator::entity::EgoEntity::requestAssignRoute ( const std::vector< geometry_msgs::msg::Pose > &  waypoints )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

requestAutoModeForCooperation()

auto traffic_simulator::entity::EgoEntity::requestAutoModeForCooperation	(	const std::string &	module_name,
		bool	enable
	)		-> void

requestClearRoute()

auto traffic_simulator::entity::EgoEntity::requestClearRoute

(

)

-> void

requestFollowTrajectory()

auto traffic_simulator::entity::EgoEntity::requestFollowTrajectory ( const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &  parameter ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestLaneChange() [1/2]

auto traffic_simulator::entity::EgoEntity::requestLaneChange ( const lane_change::Parameter &  ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestLaneChange() [2/2]

auto traffic_simulator::entity::EgoEntity::requestLaneChange ( const lanelet::Id  ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestReplanRoute()

auto traffic_simulator::entity::EgoEntity::requestReplanRoute

(

const std::vector< geometry_msgs::msg::PoseStamped > &

route

)

-> void

requestSpeedChange() [1/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange ( const double  target_speed, const speed_change::Transition  , const speed_change::Constraint  , const bool  continuous  ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestSpeedChange() [2/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange ( const speed_change::RelativeTargetSpeed &  , const speed_change::Transition  , const speed_change::Constraint  , const bool  continuous  ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestSpeedChange() [3/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange ( const speed_change::RelativeTargetSpeed &  target_speed, bool  continuous  )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

requestSpeedChange() [4/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange ( double  value, bool  continuous  )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

sendCooperateCommand()

auto traffic_simulator::entity::EgoEntity::sendCooperateCommand	(	const std::string &	module_name,
		const std::string &	command
	)		-> void

setBehaviorParameter()

auto traffic_simulator::entity::EgoEntity::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter &  behavior_parameter ) -> void

overridevirtual

Implements traffic_simulator::entity::EntityBase.

setControlledBySimulator()

auto traffic_simulator::entity::EgoEntity::setControlledBySimulator ( bool  state ) -> void

inlineoverridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

setMapPose()

auto traffic_simulator::entity::EgoEntity::setMapPose ( const geometry_msgs::msg::Pose &  map_pose ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

setParameter()

template<typename ParameterType >

auto traffic_simulator::entity::EgoEntity::setParameter ( const std::string &  name, const ParameterType &  default_value = {}  ) -> ParameterType

inline

setStatus()

template<typename... Ts>

auto traffic_simulator::entity::EgoEntity::setStatus ( Ts &&...  xs ) -> void

inline

setVelocityLimit()

auto traffic_simulator::entity::EgoEntity::setVelocityLimit ( double  value ) -> void

overridevirtual

Implements traffic_simulator::entity::EntityBase.

updateFieldOperatorApplication()

auto traffic_simulator::entity::EgoEntity::updateFieldOperatorApplication

(

)

-> void

---

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

• simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
• simulation/traffic_simulator/src/entity/ego_entity.cpp