scenario_simulator_v2 C++ API
Public Member Functions | Public Attributes | Protected Attributes | List of all members
traffic_simulator::entity::EntityBase Class Referenceabstract

#include <entity_base.hpp>

Inheritance diagram for traffic_simulator::entity::EntityBase:
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Collaboration diagram for traffic_simulator::entity::EntityBase:
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Public Member Functions

 EntityBase (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &)
 
virtual ~EntityBase ()=default
 
virtual void appendDebugMarker (visualization_msgs::msg::MarkerArray &)
 
virtual auto asFieldOperatorApplication () const -> concealer::FieldOperatorApplication &
 
virtual void cancelRequest ()
 
auto getBoundingBox () const noexcept -> traffic_simulator_msgs::msg::BoundingBox
 Get BoundingBox of the entity. More...
 
auto getCurrentAccel () const noexcept -> geometry_msgs::msg::Accel
 Get CurrentAccel of the entity. More...
 
auto getCurrentTwist () const noexcept -> 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 getEntityStatusBeforeUpdate () const noexcept -> const CanonicalizedEntityStatus &
 Get EntityStatusBeforeUpdate of the entity. More...
 
auto getEntitySubtype () const noexcept -> traffic_simulator_msgs::msg::EntitySubtype
 Get EntitySubtype of the entity. More...
 
auto getLinearJerk () const noexcept -> double
 Get LinearJerk of the entity. More...
 
auto getMapPose () const noexcept -> geometry_msgs::msg::Pose
 Get MapPose of the entity. More...
 
auto getStandStillDuration () const noexcept -> double
 Get StandStillDuration of the entity. More...
 
auto getStatus () const noexcept -> const CanonicalizedEntityStatus &
 Get Status of the entity. More...
 
auto getTraveledDistance () const noexcept -> double
 Get TraveledDistance of the entity. More...
 
auto isNpcLogicStarted () const -> bool
 
auto laneMatchingSucceed () const -> bool
 
auto get2DPolygon () const -> std::vector< geometry_msgs::msg::Point >
 
virtual auto getCurrentAction () const -> std::string=0
 
virtual auto getBehaviorParameter () const -> traffic_simulator_msgs::msg::BehaviorParameter=0
 
virtual auto getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &=0
 
virtual auto getEntityType () const -> const traffic_simulator_msgs::msg::EntityType &=0
 
virtual auto getEntityTypename () const -> const std::string &=0
 
virtual auto getGoalPoses () -> std::vector< CanonicalizedLaneletPose >=0
 
auto getLaneletPose () const -> std::optional< CanonicalizedLaneletPose >
 
auto getLaneletPose (double matching_distance) const -> std::optional< CanonicalizedLaneletPose >
 
auto getMapPoseFromRelativePose (const geometry_msgs::msg::Pose &) const -> geometry_msgs::msg::Pose
 
virtual auto getMaxAcceleration () const -> double=0
 
virtual auto getMaxDeceleration () const -> double=0
 
virtual auto getDefaultMatchingDistanceForLaneletPoseCalculation () const -> double
 
virtual auto getObstacle () -> std::optional< traffic_simulator_msgs::msg::Obstacle >=0
 
virtual auto getRouteLanelets (double horizon=100) -> lanelet::Ids=0
 
virtual auto fillLaneletPose (CanonicalizedEntityStatus &status) -> void=0
 
virtual auto getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray=0
 
virtual void onUpdate (double current_time, double step_time)
 
virtual void onPostUpdate (double current_time, double step_time)
 
void resetDynamicConstraints ()
 
virtual void requestAcquirePosition (const CanonicalizedLaneletPose &)=0
 
virtual void requestAcquirePosition (const geometry_msgs::msg::Pose &)=0
 
virtual void requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &)=0
 
virtual void requestAssignRoute (const std::vector< geometry_msgs::msg::Pose > &)=0
 
virtual void requestLaneChange (const lanelet::Id)
 
virtual void requestLaneChange (const traffic_simulator::lane_change::Parameter &)
 
void requestLaneChange (const lane_change::AbsoluteTarget &, const lane_change::TrajectoryShape, const lane_change::Constraint &)
 
void requestLaneChange (const lane_change::RelativeTarget &, const lane_change::TrajectoryShape, const lane_change::Constraint &)
 
virtual void requestSpeedChange (const double, const speed_change::Transition, const speed_change::Constraint, const bool)
 
virtual void requestSpeedChange (const speed_change::RelativeTargetSpeed &, const speed_change::Transition, const speed_change::Constraint, const bool)
 
virtual void requestSpeedChange (double, bool)
 
virtual void requestSpeedChange (const speed_change::RelativeTargetSpeed &, bool)
 
virtual void requestClearRoute ()
 
virtual auto isControlledBySimulator () const -> bool
 
virtual auto setControlledBySimulator (bool) -> void
 
virtual auto requestFollowTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &) -> void
 
virtual void requestWalkStraight ()
 
virtual void setAccelerationLimit (double acceleration)=0
 
virtual void setAccelerationRateLimit (double acceleration_rate)=0
 
virtual void setDecelerationLimit (double deceleration)=0
 
virtual void setDecelerationRateLimit (double deceleration_rate)=0
 
void setDynamicConstraints (const traffic_simulator_msgs::msg::DynamicConstraints &)
 
virtual void setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &)=0
 
void setOtherStatus (const std::unordered_map< std::string, CanonicalizedEntityStatus > &)
 
virtual auto setStatus (const CanonicalizedEntityStatus &) -> void
 
virtual auto setLinearAcceleration (const double linear_acceleration) -> void
 
virtual auto setLinearVelocity (const double linear_velocity) -> void
 
virtual void setTrafficLightManager (const std::shared_ptr< traffic_simulator::TrafficLightManager > &)
 
virtual auto activateOutOfRangeJob (double min_velocity, double max_velocity, double min_acceleration, double max_acceleration, double min_jerk, double max_jerk) -> void
 
virtual auto setVelocityLimit (double) -> void=0
 
virtual auto setMapPose (const geometry_msgs::msg::Pose &map_pose) -> void
 
auto setTwist (const geometry_msgs::msg::Twist &twist) -> void
 
auto setAcceleration (const geometry_msgs::msg::Accel &accel) -> void
 
auto setLinearJerk (const double liner_jerk) -> void
 
virtual void startNpcLogic (const double current_time)
 
void stopAtCurrentPosition ()
 
void updateEntityStatusTimestamp (const double current_time)
 
auto updateStandStillDuration (const double step_time) -> double
 
auto updateTraveledDistance (const double step_time) -> double
 
bool reachPosition (const geometry_msgs::msg::Pose &target_pose, const double tolerance) const
 
bool reachPosition (const CanonicalizedLaneletPose &lanelet_pose, const double tolerance) const
 
bool reachPosition (const std::string &target_name, const double tolerance) const
 
auto requestSynchronize (const std::string &target_name, const CanonicalizedLaneletPose &target_sync_pose, const CanonicalizedLaneletPose &entity_target, const double target_speed, const double tolerance) -> bool
 
virtual auto fillLaneletPose (CanonicalizedEntityStatus &status, bool include_crosswalk) -> void final
 

Public Attributes

const std::string name
 
bool verbose
 

Protected Attributes

CanonicalizedEntityStatus status_
 
CanonicalizedEntityStatus status_before_update_
 
std::shared_ptr< hdmap_utils::HdMapUtils > hdmap_utils_ptr_
 
std::shared_ptr< traffic_simulator::TrafficLightManager > traffic_light_manager_
 
bool npc_logic_started_ = false
 
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

◆ EntityBase()

traffic_simulator::entity::EntityBase::EntityBase ( const std::string &  name,
const CanonicalizedEntityStatus &  entity_status,
const std::shared_ptr< hdmap_utils::HdMapUtils > &  hdmap_utils_ptr 
)
explicit

◆ ~EntityBase()

virtual traffic_simulator::entity::EntityBase::~EntityBase ( )
virtualdefault

Member Function Documentation

◆ activateOutOfRangeJob()

void traffic_simulator::entity::EntityBase::activateOutOfRangeJob ( double  min_velocity,
double  max_velocity,
double  min_acceleration,
double  max_acceleration,
double  min_jerk,
double  max_jerk 
) -> void
virtual

This value was determined heuristically rather than for technical reasons.

Checking if the values of velocity, acceleration and jerk are within the acceptable range

This job is always ACTIVE

◆ appendDebugMarker()

void traffic_simulator::entity::EntityBase::appendDebugMarker ( visualization_msgs::msg::MarkerArray &  )
virtual

Reimplemented in traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ asFieldOperatorApplication()

auto traffic_simulator::entity::EntityBase::asFieldOperatorApplication ( ) const -> concealer::FieldOperatorApplication &
virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ cancelRequest()

void traffic_simulator::entity::EntityBase::cancelRequest ( )
virtual

Reimplemented in traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ fillLaneletPose() [1/2]

virtual auto traffic_simulator::entity::EntityBase::fillLaneletPose ( CanonicalizedEntityStatus &  status) -> void
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ fillLaneletPose() [2/2]

auto traffic_simulator::entity::EntityBase::fillLaneletPose ( CanonicalizedEntityStatus &  status,
bool  include_crosswalk 
) -> void
finalvirtual

◆ get2DPolygon()

auto traffic_simulator::entity::EntityBase::get2DPolygon ( ) const -> std::vector<geometry_msgs::msg::Point>

◆ getBehaviorParameter()

virtual auto traffic_simulator::entity::EntityBase::getBehaviorParameter ( ) const -> traffic_simulator_msgs::msg::BehaviorParameter
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::PedestrianEntity.

◆ getBoundingBox()

auto traffic_simulator::entity::EntityBase::getBoundingBox ( ) const -> traffic_simulator_msgs::msg::BoundingBox
inlinenoexcept

Get BoundingBox of the entity.

Returns
BoundingBox of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getCurrentAccel()

auto traffic_simulator::entity::EntityBase::getCurrentAccel ( ) const -> geometry_msgs::msg::Accel
inlinenoexcept

Get CurrentAccel of the entity.

Returns
CurrentAccel of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getCurrentAction()

virtual auto traffic_simulator::entity::EntityBase::getCurrentAction ( ) const -> std::string
pure virtual

Implemented in traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ getCurrentTwist()

auto traffic_simulator::entity::EntityBase::getCurrentTwist ( ) const -> geometry_msgs::msg::Twist
inlinenoexcept

Get CurrentTwist of the entity.

Returns
CurrentTwist of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getDefaultDynamicConstraints()

virtual auto traffic_simulator::entity::EntityBase::getDefaultDynamicConstraints ( ) const -> const traffic_simulator_msgs::msg::DynamicConstraints &
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

auto traffic_simulator::entity::EntityBase::getDefaultMatchingDistanceForLaneletPoseCalculation ( ) const -> double
virtual

Reimplemented in traffic_simulator::entity::VehicleEntity.

◆ getDynamicConstraints()

auto traffic_simulator::entity::EntityBase::getDynamicConstraints ( ) const -> traffic_simulator_msgs::msg::DynamicConstraints
inlinenoexcept

Get DynamicConstraints of the entity.

Returns
DynamicConstraints of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getEntityStatusBeforeUpdate()

auto traffic_simulator::entity::EntityBase::getEntityStatusBeforeUpdate ( ) const -> const CanonicalizedEntityStatus &
inlinenoexcept

Get EntityStatusBeforeUpdate of the entity.

Returns
EntityStatusBeforeUpdate of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getEntitySubtype()

auto traffic_simulator::entity::EntityBase::getEntitySubtype ( ) const -> traffic_simulator_msgs::msg::EntitySubtype
inlinenoexcept

Get EntitySubtype of the entity.

Returns
EntitySubtype of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getEntityType()

virtual auto traffic_simulator::entity::EntityBase::getEntityType ( ) const -> const traffic_simulator_msgs::msg::EntityType &
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ getEntityTypename()

virtual auto traffic_simulator::entity::EntityBase::getEntityTypename ( ) const -> const std::string &
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ getGoalPoses()

virtual auto traffic_simulator::entity::EntityBase::getGoalPoses ( ) -> std::vector< CanonicalizedLaneletPose >
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ getLaneletPose() [1/2]

auto traffic_simulator::entity::EntityBase::getLaneletPose ( ) const -> std::optional<CanonicalizedLaneletPose>

◆ getLaneletPose() [2/2]

auto traffic_simulator::entity::EntityBase::getLaneletPose ( double  matching_distance) const -> std::optional<CanonicalizedLaneletPose>

◆ getLinearJerk()

auto traffic_simulator::entity::EntityBase::getLinearJerk ( ) const -> double
inlinenoexcept

Get LinearJerk of the entity.

Returns
LinearJerk of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getMapPose()

auto traffic_simulator::entity::EntityBase::getMapPose ( ) const -> geometry_msgs::msg::Pose
inlinenoexcept

Get MapPose of the entity.

Returns
MapPose of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getMapPoseFromRelativePose()

auto traffic_simulator::entity::EntityBase::getMapPoseFromRelativePose ( const geometry_msgs::msg::Pose &  relative_pose) const -> geometry_msgs::msg::Pose

◆ getMaxAcceleration()

virtual auto traffic_simulator::entity::EntityBase::getMaxAcceleration ( ) const -> double
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ getMaxDeceleration()

virtual auto traffic_simulator::entity::EntityBase::getMaxDeceleration ( ) const -> double
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ getObstacle()

virtual auto traffic_simulator::entity::EntityBase::getObstacle ( ) -> std::optional< traffic_simulator_msgs::msg::Obstacle >
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::EgoEntity.

◆ getRouteLanelets()

virtual auto traffic_simulator::entity::EntityBase::getRouteLanelets ( double  horizon = 100) -> lanelet::Ids
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::EgoEntity.

◆ getStandStillDuration()

auto traffic_simulator::entity::EntityBase::getStandStillDuration ( ) const -> double
inlinenoexcept

Get StandStillDuration of the entity.

Returns
StandStillDuration of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getStatus()

auto traffic_simulator::entity::EntityBase::getStatus ( ) const -> const CanonicalizedEntityStatus &
inlinenoexcept

Get Status of the entity.

Returns
Status of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getTraveledDistance()

auto traffic_simulator::entity::EntityBase::getTraveledDistance ( ) const -> double
inlinenoexcept

Get TraveledDistance of the entity.

Returns
TraveledDistance of the entity.
Note
This function was defined by DEFINE_GETTER function.

◆ getWaypoints()

virtual auto traffic_simulator::entity::EntityBase::getWaypoints ( ) -> const traffic_simulator_msgs::msg::WaypointsArray
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ isControlledBySimulator()

auto traffic_simulator::entity::EntityBase::isControlledBySimulator ( ) const -> bool
virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ isNpcLogicStarted()

auto traffic_simulator::entity::EntityBase::isNpcLogicStarted ( ) const -> bool
inline
Note
This function was defined by DEFINE_CHECK_FUNCTION function.

◆ laneMatchingSucceed()

auto traffic_simulator::entity::EntityBase::laneMatchingSucceed ( ) const -> bool
inline
Note
This function was defined by DEFINE_CHECK_FUNCTION function.

◆ onPostUpdate()

void traffic_simulator::entity::EntityBase::onPostUpdate ( double  current_time,
double  step_time 
)
virtual

◆ onUpdate()

void traffic_simulator::entity::EntityBase::onUpdate ( double  current_time,
double  step_time 
)
virtual

Reimplemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::EgoEntity.

◆ reachPosition() [1/3]

bool traffic_simulator::entity::EntityBase::reachPosition ( const CanonicalizedLaneletPose &  lanelet_pose,
const double  tolerance 
) const

◆ reachPosition() [2/3]

bool traffic_simulator::entity::EntityBase::reachPosition ( const geometry_msgs::msg::Pose &  target_pose,
const double  tolerance 
) const

◆ reachPosition() [3/3]

bool traffic_simulator::entity::EntityBase::reachPosition ( const std::string &  target_name,
const double  tolerance 
) const

◆ requestAcquirePosition() [1/2]

virtual void traffic_simulator::entity::EntityBase::requestAcquirePosition ( const CanonicalizedLaneletPose &  )
pure virtual

Implemented in traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::VehicleEntity.

◆ requestAcquirePosition() [2/2]

virtual void traffic_simulator::entity::EntityBase::requestAcquirePosition ( const geometry_msgs::msg::Pose &  )
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ requestAssignRoute() [1/2]

virtual void traffic_simulator::entity::EntityBase::requestAssignRoute ( const std::vector< CanonicalizedLaneletPose > &  )
pure virtual

Implemented in traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ requestAssignRoute() [2/2]

virtual void traffic_simulator::entity::EntityBase::requestAssignRoute ( const std::vector< geometry_msgs::msg::Pose > &  )
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ requestClearRoute()

void traffic_simulator::entity::EntityBase::requestClearRoute ( )
virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ requestFollowTrajectory()

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

Reimplemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::EgoEntity.

◆ requestLaneChange() [1/4]

void traffic_simulator::entity::EntityBase::requestLaneChange ( const lane_change::AbsoluteTarget &  target,
const lane_change::TrajectoryShape  trajectory_shape,
const lane_change::Constraint &  constraint 
)

◆ requestLaneChange() [2/4]

void traffic_simulator::entity::EntityBase::requestLaneChange ( const lane_change::RelativeTarget &  target,
const lane_change::TrajectoryShape  trajectory_shape,
const lane_change::Constraint &  constraint 
)

◆ requestLaneChange() [3/4]

virtual void traffic_simulator::entity::EntityBase::requestLaneChange ( const lanelet::Id  )
inlinevirtual

Reimplemented in traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::VehicleEntity.

◆ requestLaneChange() [4/4]

virtual void traffic_simulator::entity::EntityBase::requestLaneChange ( const traffic_simulator::lane_change::Parameter &  )
inlinevirtual

Reimplemented in traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::EgoEntity.

◆ requestSpeedChange() [1/4]

void traffic_simulator::entity::EntityBase::requestSpeedChange ( const double  target_speed,
const speed_change::Transition  transition,
const speed_change::Constraint  constraint,
const bool  continuous 
)
virtual

Reimplemented in traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ requestSpeedChange() [2/4]

void traffic_simulator::entity::EntityBase::requestSpeedChange ( const speed_change::RelativeTargetSpeed &  target_speed,
bool  continuous 
)
virtual

If the target entity reaches the target speed, return true.

If the target entity reaches the target speed, return true.

Cancel speed change request.

Reimplemented in traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::MiscObjectEntity.

◆ requestSpeedChange() [3/4]

void traffic_simulator::entity::EntityBase::requestSpeedChange ( const speed_change::RelativeTargetSpeed &  target_speed,
const speed_change::Transition  transition,
const speed_change::Constraint  constraint,
const bool  continuous 
)
virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ requestSpeedChange() [4/4]

void traffic_simulator::entity::EntityBase::requestSpeedChange ( double  target_speed,
bool  continuous 
)
virtual

If the target entity reaches the target speed, return true.

Cancel speed change request.

If the target entity reaches the target speed, return true.

Cancel speed change request.

Reimplemented in traffic_simulator::entity::MiscObjectEntity, and traffic_simulator::entity::EgoEntity.

◆ requestSynchronize()

auto traffic_simulator::entity::EntityBase::requestSynchronize ( const std::string &  target_name,
const CanonicalizedLaneletPose &  target_sync_pose,
const CanonicalizedLaneletPose &  entity_target,
const double  target_speed,
const double  tolerance 
) -> bool

Check if the entity has already arrived to the target lanelet.

Making entity speed up.

Making entity slow down.

Making entity keep the current speed.

Warning
using this->requestSpeedChange here does not work in some kind of reason. It seems that after this, function is called by some reason. func_on_cleanup will be deleted and becomes nullptr

◆ requestWalkStraight()

void traffic_simulator::entity::EntityBase::requestWalkStraight ( )
virtual

Reimplemented in traffic_simulator::entity::PedestrianEntity.

◆ resetDynamicConstraints()

void traffic_simulator::entity::EntityBase::resetDynamicConstraints ( )

◆ setAcceleration()

auto traffic_simulator::entity::EntityBase::setAcceleration ( const geometry_msgs::msg::Accel &  accel) -> void

◆ setAccelerationLimit()

virtual void traffic_simulator::entity::EntityBase::setAccelerationLimit ( double  acceleration)
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ setAccelerationRateLimit()

virtual void traffic_simulator::entity::EntityBase::setAccelerationRateLimit ( double  acceleration_rate)
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ setBehaviorParameter()

virtual void traffic_simulator::entity::EntityBase::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter &  )
pure virtual

Implemented in traffic_simulator::entity::VehicleEntity, traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::EgoEntity, and traffic_simulator::entity::PedestrianEntity.

◆ setControlledBySimulator()

auto traffic_simulator::entity::EntityBase::setControlledBySimulator ( bool  ) -> void
virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ setDecelerationLimit()

virtual void traffic_simulator::entity::EntityBase::setDecelerationLimit ( double  deceleration)
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ setDecelerationRateLimit()

virtual void traffic_simulator::entity::EntityBase::setDecelerationRateLimit ( double  deceleration_rate)
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ setDynamicConstraints()

void traffic_simulator::entity::EntityBase::setDynamicConstraints ( const traffic_simulator_msgs::msg::DynamicConstraints &  constraints)

◆ setLinearAcceleration()

auto traffic_simulator::entity::EntityBase::setLinearAcceleration ( const double  linear_acceleration) -> void
virtual

◆ setLinearJerk()

auto traffic_simulator::entity::EntityBase::setLinearJerk ( const double  liner_jerk) -> void

◆ setLinearVelocity()

auto traffic_simulator::entity::EntityBase::setLinearVelocity ( const double  linear_velocity) -> void
virtual

◆ setMapPose()

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

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ setOtherStatus()

void traffic_simulator::entity::EntityBase::setOtherStatus ( const std::unordered_map< std::string, CanonicalizedEntityStatus > &  status)

◆ setStatus()

auto traffic_simulator::entity::EntityBase::setStatus ( const CanonicalizedEntityStatus &  status) -> void
virtual

◆ setTrafficLightManager()

void traffic_simulator::entity::EntityBase::setTrafficLightManager ( const std::shared_ptr< traffic_simulator::TrafficLightManager > &  traffic_light_manager)
virtual

Reimplemented in traffic_simulator::entity::PedestrianEntity, and traffic_simulator::entity::VehicleEntity.

◆ setTwist()

auto traffic_simulator::entity::EntityBase::setTwist ( const geometry_msgs::msg::Twist &  twist) -> void

◆ setVelocityLimit()

virtual auto traffic_simulator::entity::EntityBase::setVelocityLimit ( double  ) -> void
pure virtual

Implemented in traffic_simulator::entity::MiscObjectEntity, traffic_simulator::entity::EgoEntity, traffic_simulator::entity::VehicleEntity, and traffic_simulator::entity::PedestrianEntity.

◆ startNpcLogic()

void traffic_simulator::entity::EntityBase::startNpcLogic ( const double  current_time)
virtual

◆ stopAtCurrentPosition()

void traffic_simulator::entity::EntityBase::stopAtCurrentPosition ( )

◆ updateEntityStatusTimestamp()

void traffic_simulator::entity::EntityBase::updateEntityStatusTimestamp ( const double  current_time)

◆ updateStandStillDuration()

auto traffic_simulator::entity::EntityBase::updateStandStillDuration ( const double  step_time) -> double

◆ updateTraveledDistance()

auto traffic_simulator::entity::EntityBase::updateTraveledDistance ( const double  step_time) -> double

Member Data Documentation

◆ hdmap_utils_ptr_

std::shared_ptr<hdmap_utils::HdMapUtils> traffic_simulator::entity::EntityBase::hdmap_utils_ptr_
protected

◆ job_list_

traffic_simulator::job::JobList traffic_simulator::entity::EntityBase::job_list_
protected

◆ name

const std::string traffic_simulator::entity::EntityBase::name

◆ npc_logic_started_

bool traffic_simulator::entity::EntityBase::npc_logic_started_ = false
protected

◆ other_status_

std::unordered_map<std::string, CanonicalizedEntityStatus> traffic_simulator::entity::EntityBase::other_status_
protected

◆ prev_job_duration_

double traffic_simulator::entity::EntityBase::prev_job_duration_ = 0.0
protected

◆ speed_planner_

std::unique_ptr<traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner> traffic_simulator::entity::EntityBase::speed_planner_
protected

◆ stand_still_duration_

double traffic_simulator::entity::EntityBase::stand_still_duration_ = 0.0
protected

◆ status_

CanonicalizedEntityStatus traffic_simulator::entity::EntityBase::status_
protected

◆ status_before_update_

CanonicalizedEntityStatus traffic_simulator::entity::EntityBase::status_before_update_
protected

◆ step_time_

double traffic_simulator::entity::EntityBase::step_time_ = 0.0
protected

◆ target_speed_

std::optional<double> traffic_simulator::entity::EntityBase::target_speed_
protected

◆ traffic_light_manager_

std::shared_ptr<traffic_simulator::TrafficLightManager> traffic_simulator::entity::EntityBase::traffic_light_manager_
protected

◆ traveled_distance_

double traffic_simulator::entity::EntityBase::traveled_distance_ = 0.0
protected

◆ verbose

bool traffic_simulator::entity::EntityBase::verbose
The documentation for this class was generated from the following files:
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