#include <entity_base.hpp>

Inheritance diagram for traffic_simulator::entity::EntityBase:

Collaboration diagram for traffic_simulator::entity::EntityBase:

Public Member Functions
	EntityBase (const std::string &name, const CanonicalizedEntityStatus &entity_status, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr)

virtual	~EntityBase ()=default

virtual void	appendDebugMarker (visualization_msgs::msg::MarkerArray &)

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

virtual void	cancelRequest ()

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	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	getEntityTypename () const -> const std::string &=0

virtual auto	getGoalPoses () -> std::vector< CanonicalizedLaneletPose >=0

auto	getCanonicalizedLaneletPose () const -> std::optional< CanonicalizedLaneletPose >

auto	getCanonicalizedLaneletPose (const double matching_distance) const -> std::optional< CanonicalizedLaneletPose >

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 (const double horizon=100.0) -> lanelet::Ids=0

virtual auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray=0

virtual auto	onUpdate (const double current_time, const double step_time) -> void

virtual auto	onPostUpdate (const double current_time, const double step_time) -> void

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 &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint)

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

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

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

virtual void	requestSpeedChange (const double target_speed, const bool continuous)

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

virtual void	requestClearRoute ()

virtual auto	isControlledBySimulator () const -> bool

virtual auto	setControlledBySimulator (const bool) -> void

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

virtual void	requestWalkStraight ()

virtual void	setAccelerationLimit (const double acceleration)=0

virtual void	setAccelerationRateLimit (const double acceleration_rate)=0

virtual void	setDecelerationLimit (const double deceleration)=0

virtual void	setDecelerationRateLimit (const double deceleration_rate)=0

void	setDynamicConstraints (const traffic_simulator_msgs::msg::DynamicConstraints &constraints)

virtual void	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &)=0

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

virtual auto	setStatus (const EntityStatus &status, const lanelet::Ids &lanelet_ids) -> void

virtual auto	setStatus (const EntityStatus &status) -> void

auto	setCanonicalizedStatus (const CanonicalizedEntityStatus &status) -> void

virtual auto	setLinearAcceleration (const double linear_acceleration) -> void

virtual auto	setLinearVelocity (const double linear_velocity) -> void

virtual void	setTrafficLights (const std::shared_ptr< traffic_simulator::TrafficLightsBase > &traffic_lights)

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

virtual auto	setVelocityLimit (const 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	setAction (const std::string &action) -> void

auto	setLinearJerk (const double liner_jerk) -> void

void	stopAtCurrentPosition ()

void	updateEntityStatusTimestamp (const double current_time)

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

Public Attributes
const std::string	name

bool	verbose

Protected Attributes
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

◆ 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	(	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

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.

◆ 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 -> 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.

◆ getCanonicalizedLaneletPose() [1/2]

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

◆ getCanonicalizedLaneletPose() [2/2]

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

◆ getCanonicalizedStatus()

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

inlinenoexcept

Get CanonicalizedStatus of the entity.

Returns: CanonicalizedStatus of the entity.

Note: This function was defined by DEFINE_GETTER function.

◆ getCanonicalizedStatusBeforeUpdate()

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

inlinenoexcept

Get CanonicalizedStatusBeforeUpdate of the entity.

Returns: CanonicalizedStatusBeforeUpdate of the entity.

Note: This function was defined by DEFINE_GETTER function.

◆ getCurrentAccel()

auto traffic_simulator::entity::EntityBase::getCurrentAccel ( ) const -> 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 -> 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.

◆ getEntitySubtype()

auto traffic_simulator::entity::EntityBase::getEntitySubtype ( ) const -> 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()

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

inlinenoexcept

Get EntityType of the entity.

Returns: EntityType of the entity.

Note: This function was defined by DEFINE_GETTER function.

◆ 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.

◆ 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 -> 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.

◆ 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 ( const double horizon = 100.0 ) -> 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.

◆ 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.

◆ laneMatchingSucceed()

auto traffic_simulator::entity::EntityBase::laneMatchingSucceed ( ) const -> bool

inline

Note: This function was defined by DEFINE_CHECK_FUNCTION function.

◆ onPostUpdate()

auto traffic_simulator::entity::EntityBase::onPostUpdate	(	const double	current_time,
		const double	step_time
	)		-> void

virtual

◆ onUpdate()

auto traffic_simulator::entity::EntityBase::onUpdate	(	const double	current_time,
		const double	step_time
	)		-> void

virtual

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

◆ 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()

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

inlinevirtual

Note: Since there are Entities such as MiscObjectEntity that do not perform routing, and routing methods differ from Entity to Entity, this function performs no operation in the base type.

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

Note: There are Entities such as MiscObjectEntity for which lane change is not possible, and since it is necessary to implement appropriate overrides for each Entity, no operation is performed on the base type.

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

Note: There are Entities such as MiscObjectEntity for which lane change is not possible, and since it is necessary to implement appropriate overrides for each Entity, no operation is performed on the base type.

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 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.

◆ requestSpeedChange() [2/4]

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() [3/4]

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

virtual

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() [4/4]

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.

◆ 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 ( const 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 ( const double acceleration_rate )

pure virtual

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

◆ setAction()

auto traffic_simulator::entity::EntityBase::setAction ( const std::string & action ) -> void

◆ 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.

◆ setCanonicalizedStatus()

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

◆ setControlledBySimulator()

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

virtual

Reimplemented in traffic_simulator::entity::EgoEntity.

◆ setDecelerationLimit()

virtual void traffic_simulator::entity::EntityBase::setDecelerationLimit ( const 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 ( const 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() [1/2]

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

virtual

◆ setStatus() [2/2]

auto traffic_simulator::entity::EntityBase::setStatus	(	const EntityStatus &	status,
		const lanelet::Ids &	lanelet_ids
	)		-> void

virtual

◆ setTrafficLights()

void traffic_simulator::entity::EntityBase::setTrafficLights ( const std::shared_ptr< traffic_simulator::TrafficLightsBase > & traffic_lights )

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 ( const double ) -> void

pure virtual

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

◆ stopAtCurrentPosition()

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

◆ updateEntityStatusTimestamp()

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

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

◆ 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_

std::shared_ptr<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_lights_

std::shared_ptr<traffic_simulator::TrafficLightsBase> traffic_simulator::entity::EntityBase::traffic_lights_

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:

simulation/traffic_simulator/include/traffic_simulator/entity/entity_base.hpp
simulation/traffic_simulator/src/entity/entity_base.cpp

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ EntityBase()

◆ ~EntityBase()

Member Function Documentation

◆ activateOutOfRangeJob()

◆ appendDebugMarker()

◆ asFieldOperatorApplication()

◆ cancelRequest()

◆ get2DPolygon()

◆ getBehaviorParameter()

◆ getBoundingBox()

◆ getCanonicalizedLaneletPose() [1/2]

◆ getCanonicalizedLaneletPose() [2/2]

◆ getCanonicalizedStatus()

◆ getCanonicalizedStatusBeforeUpdate()

◆ getCurrentAccel()

◆ getCurrentAction()

◆ getCurrentTwist()

◆ getDefaultDynamicConstraints()

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

◆ getDynamicConstraints()

◆ getEntitySubtype()

◆ getEntityType()

◆ getEntityTypename()

◆ getGoalPoses()

◆ getLinearJerk()

◆ getMapPose()

◆ getMaxAcceleration()

◆ getMaxDeceleration()

◆ getObstacle()

◆ getRouteLanelets()

◆ getStandStillDuration()

◆ getTraveledDistance()

◆ getWaypoints()

◆ isControlledBySimulator()

◆ laneMatchingSucceed()

◆ onPostUpdate()

◆ onUpdate()

◆ reachPosition() [1/3]

◆ reachPosition() [2/3]

◆ reachPosition() [3/3]

◆ requestAcquirePosition() [1/2]

◆ requestAcquirePosition() [2/2]

◆ requestAssignRoute() [1/2]

◆ requestAssignRoute() [2/2]

◆ requestClearRoute()

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/4]

◆ requestLaneChange() [2/4]

◆ requestLaneChange() [3/4]

◆ requestLaneChange() [4/4]

◆ requestSpeedChange() [1/4]

◆ requestSpeedChange() [2/4]

◆ requestSpeedChange() [3/4]

◆ requestSpeedChange() [4/4]

◆ requestSynchronize()

◆ requestWalkStraight()

◆ resetDynamicConstraints()

◆ setAcceleration()

◆ setAccelerationLimit()

◆ setAccelerationRateLimit()

◆ setAction()

◆ setBehaviorParameter()

◆ setCanonicalizedStatus()

◆ setControlledBySimulator()

◆ setDecelerationLimit()

◆ setDecelerationRateLimit()

◆ setDynamicConstraints()

◆ setLinearAcceleration()

◆ setLinearJerk()

◆ setLinearVelocity()

◆ setMapPose()

◆ setOtherStatus()

◆ setStatus() [1/2]

◆ setStatus() [2/2]

◆ setTrafficLights()

◆ setTwist()