traffic_simulator::entity::EntityManager Class Reference

#include <entity_manager.hpp>

Public Member Functions
template<class NodeT , class AllocatorT = std::allocator<void>>
	EntityManager (NodeT &&node, const Configuration &configuration, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_parameters)
	~EntityManager ()=default
auto	setTrafficLights (const std::shared_ptr< TrafficLights > &traffic_lights_ptr) -> void
auto	setVerbose (const bool verbose) -> void
auto	startNpcLogic (const double current_time) -> void
auto	isNpcLogicStarted () const -> bool
auto	makeDebugMarker () const -> visualization_msgs::msg::MarkerArray
auto	update (const double current_time, const double step_time) -> void
auto	updateNpcLogic (const std::string &name, const double current_time, const double step_time) -> const CanonicalizedEntityStatus &
auto	updateHdmapMarker () const -> void
auto	broadcastEntityTransform () -> void
auto	broadcastTransform (const geometry_msgs::msg::PoseStamped &pose, const bool static_transform=true) -> void
template<typename EntityType , typename PoseType , typename ParametersType , typename... Ts>
auto	spawnEntity (const std::string &name, const PoseType &pose, const ParametersType &parameters, const double current_time, Ts &&... xs) -> entity::EntityBase &
auto	getNumberOfEgo () const -> std::size_t
auto	isAnyEgoSpawned () const -> bool
auto	getFirstEgoName () const -> std::optional< std::string >
auto	getEgoEntity (const std::string &name) -> entity::EgoEntity &
auto	getEgoEntity (const std::string &name) const -> const entity::EgoEntity &
auto	isEntityExist (const std::string &name) const -> bool
auto	getEntityNames () const -> const std::vector< std::string >
auto	getEntity (const std::string &name) -> entity::EntityBase &
auto	getEntity (const std::string &name) const -> const entity::EntityBase &
auto	getEntityPointer (const std::string &name) const -> std::shared_ptr< entity::EntityBase >
auto	resetBehaviorPlugin (const std::string &name, const std::string &behavior_plugin_name) -> void
	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...
auto	despawnEntity (const std::string &name) -> bool
auto	getHdmapUtils () -> const std::shared_ptr< hdmap_utils::HdMapUtils > &
template<typename Node >
auto	getOrigin (Node &node) const
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 >

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

(

)

-> void

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()

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

despawnEntity()

auto traffic_simulator::entity::EntityManager::despawnEntity

(

const std::string &

name

)

-> bool

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<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

makeDebugMarker()

auto traffic_simulator::entity::EntityManager::makeDebugMarker

(

)

const -> visualization_msgs::msg::MarkerArray

resetBehaviorPlugin()

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

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

entity::PedestrianEntity::BuiltinBehavior

entity::VehicleEntity::BuiltinBehavior

setTrafficLights()

auto traffic_simulator::entity::EntityManager::setTrafficLights

(

const std::shared_ptr< TrafficLights > &

traffic_lights_ptr

)

-> void

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

setVerbose()

auto traffic_simulator::entity::EntityManager::setVerbose

(

const bool

verbose

)

-> void

spawnEntity()

template<typename EntityType , typename PoseType , typename ParametersType , typename... Ts>

auto traffic_simulator::entity::EntityManager::spawnEntity ( const std::string &  name, const PoseType &  pose, const ParametersType &  parameters, const double  current_time, Ts &&...  xs  ) -> entity::EntityBase &

inline

startNpcLogic()

auto traffic_simulator::entity::EntityManager::startNpcLogic

(

const double

current_time

)

-> void

update()

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

updateHdmapMarker()

auto traffic_simulator::entity::EntityManager::updateHdmapMarker

(

)

const -> void

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