traffic_simulator::entity::EntityManager Class Reference

#include <entity_manager.hpp>

Public Member Functions
auto	setTrafficLights (const std::shared_ptr< traffic_simulator::TrafficLights > &traffic_lights_ptr) -> void
template<typename Node >
auto	getOrigin (Node &node) const
template<class NodeT , class AllocatorT = std::allocator<void>>
	EntityManager (NodeT &&node, const Configuration &configuration, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_parameters)
	~EntityManager ()=default
visualization_msgs::msg::MarkerArray	makeDebugMarker () const
auto	updateNpcLogic (const std::string &name, const double current_time, const double step_time) -> const CanonicalizedEntityStatus &
void	broadcastEntityTransform ()
void	broadcastTransform (const geometry_msgs::msg::PoseStamped &pose, const bool static_transform=true)
bool	despawnEntity (const std::string &name)
auto	isEntityExist (const std::string &name) const -> bool
auto	getEntityNames () const -> const std::vector< std::string >
auto	getEntityPointer (const std::string &name) const -> std::shared_ptr< traffic_simulator::entity::EntityBase >
auto	getEntity (const std::string &name) -> entity::EntityBase &
auto	getEntity (const std::string &name) const -> const entity::EntityBase &
auto	getEgoEntity (const std::string &name) -> entity::EgoEntity &
auto	getEgoEntity (const std::string &name) const -> const entity::EgoEntity &
auto	getHdmapUtils () -> const std::shared_ptr< hdmap_utils::HdMapUtils > &
auto	getNumberOfEgo () const -> std::size_t
auto	getObstacle (const std::string &name) -> std::optional< traffic_simulator_msgs::msg::Obstacle >
auto	getPedestrianParameters (const std::string &name) const -> const traffic_simulator_msgs::msg::PedestrianParameters &
auto	getVehicleParameters (const std::string &name) const -> const traffic_simulator_msgs::msg::VehicleParameters &
auto	getWaypoints (const std::string &name) -> traffic_simulator_msgs::msg::WaypointsArray
template<typename T >
auto	getGoalPoses (const std::string &name) -> std::vector< T >
auto	isAnyEgoSpawned () const -> bool
auto	getFirstEgoName () const -> std::optional< std::string >
void	resetBehaviorPlugin (const std::string &name, const std::string &behavior_plugin_name)
	Reset behavior plugin of the target entity. The internal behavior is to take over the various parameters and save them, then respawn the Entity and set the parameters. More...
void	setVerbose (const bool verbose)
template<typename Entity , typename Pose , typename Parameters , typename... Ts>
auto	spawnEntity (const std::string &name, const Pose &pose, const Parameters &parameters, const double current_time, Ts &&... xs)
template<typename MessageT , typename... Args>
auto	createPublisher (Args &&... args)
template<typename MessageT , typename... Args>
auto	createSubscription (Args &&... args)
void	update (const double current_time, const double step_time)
void	updateHdmapMarker ()
auto	startNpcLogic (const double current_time) -> void
auto	isNpcLogicStarted () const -> bool

Constructor & Destructor Documentation

EntityManager()

template<class NodeT , class AllocatorT = std::allocator<void>>

traffic_simulator::entity::EntityManager::EntityManager ( NodeT &&  node, const Configuration &  configuration, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &  node_parameters  )

inlineexplicit

~EntityManager()

traffic_simulator::entity::EntityManager::~EntityManager ( )

default

Member Function Documentation

broadcastEntityTransform()

auto traffic_simulator::entity::EntityManager::broadcastEntityTransform

(

)

Note

This part of the process is intended to ensure that frames are issued in a position that makes it as easy as possible to see the entities that will appear in the scenario. In the past, we used to publish the frames of all entities, but that would be too heavy processing, so we publish the average of the coordinates of all entities.

This is the intended implementation. It is easier to create rviz config if the name "ego" is fixed, so the frame_id "ego" is issued regardless of the name of the ego entity.

broadcastTransform()

void traffic_simulator::entity::EntityManager::broadcastTransform	(	const geometry_msgs::msg::PoseStamped &	pose,
		const bool	static_transform = true
	)

createPublisher()

template<typename MessageT , typename... Args>

auto traffic_simulator::entity::EntityManager::createPublisher ( Args &&...  args )

inline

createSubscription()

template<typename MessageT , typename... Args>

auto traffic_simulator::entity::EntityManager::createSubscription ( Args &&...  args )

inline

despawnEntity()

bool traffic_simulator::entity::EntityManager::despawnEntity

(

const std::string &

name

)

getEgoEntity() [1/2]

auto traffic_simulator::entity::EntityManager::getEgoEntity

(

const std::string &

name

)

-> entity::EgoEntity &

getEgoEntity() [2/2]

auto traffic_simulator::entity::EntityManager::getEgoEntity

(

const std::string &

name

)

const -> const entity::EgoEntity &

getEntity() [1/2]

auto traffic_simulator::entity::EntityManager::getEntity

(

const std::string &

name

)

-> entity::EntityBase &

getEntity() [2/2]

auto traffic_simulator::entity::EntityManager::getEntity

(

const std::string &

name

)

const -> const entity::EntityBase &

getEntityNames()

auto traffic_simulator::entity::EntityManager::getEntityNames

(

)

const -> const std::vector<std::string>

getEntityPointer()

auto traffic_simulator::entity::EntityManager::getEntityPointer

(

const std::string &

name

)

const -> std::shared_ptr<traffic_simulator::entity::EntityBase>

getFirstEgoName()

auto traffic_simulator::entity::EntityManager::getFirstEgoName

(

)

const -> std::optional<std::string>

getGoalPoses()

template<typename T >

auto traffic_simulator::entity::EntityManager::getGoalPoses ( const std::string &  name ) -> std::vector<T>

inline

getHdmapUtils()

auto traffic_simulator::entity::EntityManager::getHdmapUtils

(

)

-> const std::shared_ptr<hdmap_utils::HdMapUtils> &

getNumberOfEgo()

auto traffic_simulator::entity::EntityManager::getNumberOfEgo

(

)

const -> std::size_t

getObstacle()

auto traffic_simulator::entity::EntityManager::getObstacle

(

const std::string &

name

)

-> std::optional<traffic_simulator_msgs::msg::Obstacle>

getOrigin()

template<typename Node >

auto traffic_simulator::entity::EntityManager::getOrigin ( Node &  node ) const

inline

getPedestrianParameters()

auto traffic_simulator::entity::EntityManager::getPedestrianParameters

(

const std::string &

name

)

const -> const traffic_simulator_msgs::msg::PedestrianParameters &

getVehicleParameters()

auto traffic_simulator::entity::EntityManager::getVehicleParameters

(

const std::string &

name

)

const -> const traffic_simulator_msgs::msg::VehicleParameters &

getWaypoints()

auto traffic_simulator::entity::EntityManager::getWaypoints

(

const std::string &

name

)

-> traffic_simulator_msgs::msg::WaypointsArray

isAnyEgoSpawned()

auto traffic_simulator::entity::EntityManager::isAnyEgoSpawned

(

)

const -> bool

isEntityExist()

auto traffic_simulator::entity::EntityManager::isEntityExist

(

const std::string &

name

)

const -> bool

isNpcLogicStarted()

auto traffic_simulator::entity::EntityManager::isNpcLogicStarted ( ) const -> bool

inline

makeDebugMarker()

visualization_msgs::msg::MarkerArray traffic_simulator::entity::EntityManager::makeDebugMarker

(

)

const

resetBehaviorPlugin()

void traffic_simulator::entity::EntityManager::resetBehaviorPlugin	(	const std::string &	name,
		const std::string &	behavior_plugin_name
	)

Reset behavior plugin of the target entity. The internal behavior is to take over the various parameters and save them, then respawn the Entity and set the parameters.

Parameters

name	The name of the target entity.
behavior_plugin_name	The name of the behavior plugin you want to set.

See also

traffic_simulator::entity::PedestrianEntity::BuiltinBehavior

traffic_simulator::entity::VehicleEntity::BuiltinBehavior

setTrafficLights()

auto traffic_simulator::entity::EntityManager::setTrafficLights ( const std::shared_ptr< traffic_simulator::TrafficLights > &  traffic_lights_ptr ) -> void

inline

This function is necessary because the TrafficLights object is created after the EntityManager, so it cannot be assigned during the call of the EntityManager constructor. TrafficLights cannot be created before the EntityManager due to the dependency on HdMapUtils.

setVerbose()

void traffic_simulator::entity::EntityManager::setVerbose

(

const bool

verbose

)

spawnEntity()

template<typename Entity , typename Pose , typename Parameters , typename... Ts>

auto traffic_simulator::entity::EntityManager::spawnEntity ( const std::string &  name, const Pose &  pose, const Parameters &  parameters, const double  current_time, Ts &&...  xs  )

inline

startNpcLogic()

auto traffic_simulator::entity::EntityManager::startNpcLogic

(

const double

current_time

)

-> void

update()

void traffic_simulator::entity::EntityManager::update	(	const double	current_time,
		const double	step_time
	)

updateHdmapMarker()

void traffic_simulator::entity::EntityManager::updateHdmapMarker

(

)

updateNpcLogic()

auto traffic_simulator::entity::EntityManager::updateNpcLogic	(	const std::string &	name,
		const double	current_time,
		const double	step_time
	)		-> const CanonicalizedEntityStatus &

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

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