#include <entity_manager.hpp>

Public Member Functions
template<typename Node >
auto	getOrigin (Node &node) const

template<typename... Ts>
auto	makeV2ITrafficLightPublisher (Ts &&... xs) -> std::shared_ptr< TrafficLightPublisherBase >

template<class NodeT , class AllocatorT = std::allocator<void>>
	EntityManager (NodeT &&node, const Configuration &configuration, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_parameters)

	~EntityManager ()=default

template<typename... Ts>
decltype(auto)	getConventionalTrafficLights (Ts &&... xs) const

template<typename... Ts>
decltype(auto)	getV2ITrafficLights (Ts &&... xs) const

template<typename... Ts>
decltype(auto)	getConventionalTrafficLight (Ts &&... xs) const

template<typename... Ts>
decltype(auto)	getV2ITrafficLight (Ts &&... xs) const

auto	generateUpdateRequestForConventionalTrafficLights ()

auto	resetConventionalTrafficLightPublishRate (double rate) -> void

auto	resetV2ITrafficLightPublishRate (double rate) -> void

auto	setConventionalTrafficLightConfidence (lanelet::Id id, double confidence) -> void

template<typename... Ts>
decltype(auto)	getLaneletLength (Ts &&... xs) const
	Forward to arguments to the HDMapUtils:: getLaneletLength function. More...

template<typename... Ts>
decltype(auto)	toLaneletPose (Ts &&... xs) const
	Forward to arguments to the HDMapUtils:: toLaneletPose function. More...

template<typename... Ts>
decltype(auto)	asFieldOperatorApplication (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: asFieldOperatorApplication function. More...

template<typename... Ts>
decltype(auto)	fillLaneletPose (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: fillLaneletPose function. More...

template<typename... Ts>
decltype(auto)	get2DPolygon (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: get2DPolygon function. More...

template<typename... Ts>
decltype(auto)	getBehaviorParameter (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getBehaviorParameter function. More...

template<typename... Ts>
decltype(auto)	getBoundingBox (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getBoundingBox function. More...

template<typename... Ts>
decltype(auto)	getCurrentAccel (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getCurrentAccel function. More...

template<typename... Ts>
decltype(auto)	getCurrentAction (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getCurrentAction function. More...

template<typename... Ts>
decltype(auto)	getCurrentTwist (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getCurrentTwist function. More...

template<typename... Ts>
decltype(auto)	getDefaultMatchingDistanceForLaneletPoseCalculation (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getDefaultMatchingDistanceForLaneletPoseCalculation function. More...

template<typename... Ts>
decltype(auto)	getEntityStatusBeforeUpdate (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getEntityStatusBeforeUpdate function. More...

template<typename... Ts>
decltype(auto)	getEntityType (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getEntityType function. More...

template<typename... Ts>
decltype(auto)	reachPosition (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: reachPosition function. More...

template<typename... Ts>
decltype(auto)	getEntityTypename (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getEntityTypename function. More...

template<typename... Ts>
decltype(auto)	getLaneletPose (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getLaneletPose function. More...

template<typename... Ts>
decltype(auto)	getLinearJerk (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getLinearJerk function. More...

template<typename... Ts>
decltype(auto)	getMapPose (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getMapPose function. More...

template<typename... Ts>
decltype(auto)	getMapPoseFromRelativePose (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getMapPoseFromRelativePose function. More...

template<typename... Ts>
decltype(auto)	getRouteLanelets (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getRouteLanelets function. More...

template<typename... Ts>
decltype(auto)	getStandStillDuration (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getStandStillDuration function. More...

template<typename... Ts>
decltype(auto)	getTraveledDistance (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: getTraveledDistance function. More...

template<typename... Ts>
decltype(auto)	laneMatchingSucceed (const std::string &name, Ts &&... xs) const
	Forward to arguments to the EntityBase:: laneMatchingSucceed function. More...

template<typename... Ts>
decltype(auto)	activateOutOfRangeJob (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: activateOutOfRangeJob function. More...

template<typename... Ts>
decltype(auto)	cancelRequest (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: cancelRequest function. More...

template<typename... Ts>
decltype(auto)	isControlledBySimulator (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: isControlledBySimulator function. More...

template<typename... Ts>
decltype(auto)	requestAcquirePosition (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestAcquirePosition function. More...

template<typename... Ts>
decltype(auto)	requestAssignRoute (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestAssignRoute function. More...

template<typename... Ts>
decltype(auto)	requestFollowTrajectory (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestFollowTrajectory function. More...

template<typename... Ts>
decltype(auto)	requestLaneChange (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestLaneChange function. More...

template<typename... Ts>
decltype(auto)	requestSynchronize (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestSynchronize function. More...

template<typename... Ts>
decltype(auto)	requestWalkStraight (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestWalkStraight function. More...

template<typename... Ts>
decltype(auto)	requestClearRoute (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: requestClearRoute function. More...

template<typename... Ts>
decltype(auto)	setAcceleration (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setAcceleration function. More...

template<typename... Ts>
decltype(auto)	setAccelerationLimit (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setAccelerationLimit function. More...

template<typename... Ts>
decltype(auto)	setAccelerationRateLimit (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setAccelerationRateLimit function. More...

template<typename... Ts>
decltype(auto)	setBehaviorParameter (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setBehaviorParameter function. More...

template<typename... Ts>
decltype(auto)	setControlledBySimulator (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setControlledBySimulator function. More...

template<typename... Ts>
decltype(auto)	setDecelerationLimit (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setDecelerationLimit function. More...

template<typename... Ts>
decltype(auto)	setDecelerationRateLimit (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setDecelerationRateLimit function. More...

template<typename... Ts>
decltype(auto)	setLinearJerk (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setLinearJerk function. More...

template<typename... Ts>
decltype(auto)	setLinearVelocity (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setLinearVelocity function. More...

template<typename... Ts>
decltype(auto)	setMapPose (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setMapPose function. More...

template<typename... Ts>
decltype(auto)	setTwist (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setTwist function. More...

template<typename... Ts>
decltype(auto)	setVelocityLimit (const std::string &name, Ts &&... xs)
	Forward to arguments to the EntityBase:: setVelocityLimit function. More...

visualization_msgs::msg::MarkerArray	makeDebugMarker () const

bool	trafficLightsChanged ()

void	requestSpeedChange (const std::string &name, double target_speed, bool continuous)

void	requestSpeedChange (const std::string &name, const double target_speed, const speed_change::Transition transition, const speed_change::Constraint constraint, const bool continuous)

void	requestSpeedChange (const std::string &name, const speed_change::RelativeTargetSpeed &target_speed, bool continuous)

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

auto	updateNpcLogic (const std::string &name) -> const CanonicalizedEntityStatus &

void	broadcastEntityTransform ()

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

bool	checkCollision (const std::string &name0, const std::string &name1)

bool	despawnEntity (const std::string &name)

bool	entityExists (const std::string &name)

auto	getCurrentTime () const noexcept -> double

auto	getEntityNames () const -> const std::vector< std::string >

auto	getEntity (const std::string &name) const -> std::shared_ptr< traffic_simulator::entity::EntityBase >

auto	getEntityStatus (const std::string &name) const -> CanonicalizedEntityStatus

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	getStepTime () const noexcept -> double

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 >

template<typename EntityType >
bool	is (const std::string &name) const

bool	isEgoSpawned () const

const std::string	getEgoName () const

bool	isInLanelet (const std::string &name, const lanelet::Id lanelet_id, const double tolerance)

bool	isStopping (const std::string &name) const

void	requestLaneChange (const std::string &name, const traffic_simulator::lane_change::Direction &direction)

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...

auto	setEntityStatus (const std::string &name, const CanonicalizedEntityStatus &) -> void

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, Ts &&... xs)

auto	toMapPose (const CanonicalizedLaneletPose &) const -> const geometry_msgs::msg::Pose

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 ()

void	startNpcLogic (const double current_time)

auto	isNpcLogicStarted () const

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

◆ activateOutOfRangeJob()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::activateOutOfRangeJob	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: activateOutOfRangeJob function.

Returns: return value of the EntityBase:: activateOutOfRangeJob function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ asFieldOperatorApplication()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::asFieldOperatorApplication	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: asFieldOperatorApplication function.

Returns: return value of the EntityBase:: asFieldOperatorApplication function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ broadcastEntityTransform()

void 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`
	)

◆ cancelRequest()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::cancelRequest	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: cancelRequest function.

Returns: return value of the EntityBase:: cancelRequest function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ checkCollision()

bool traffic_simulator::entity::EntityManager::checkCollision	(	const std::string &	name0,
		const std::string &	name1
	)

◆ 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 )

◆ entityExists()

bool traffic_simulator::entity::EntityManager::entityExists ( const std::string & name )

◆ fillLaneletPose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::fillLaneletPose	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: fillLaneletPose function.

Returns: return value of the EntityBase:: fillLaneletPose function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ generateUpdateRequestForConventionalTrafficLights()

auto traffic_simulator::entity::EntityManager::generateUpdateRequestForConventionalTrafficLights ( )

inline

◆ get2DPolygon()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::get2DPolygon	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: get2DPolygon function.

Returns: return value of the EntityBase:: get2DPolygon function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getBehaviorParameter()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getBehaviorParameter	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getBehaviorParameter function.

Returns: return value of the EntityBase:: getBehaviorParameter function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getBoundingBox()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getBoundingBox	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getBoundingBox function.

Returns: return value of the EntityBase:: getBoundingBox function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getConventionalTrafficLight()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getConventionalTrafficLight ( Ts &&... xs ) const

inline

◆ getConventionalTrafficLights()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getConventionalTrafficLights ( Ts &&... xs ) const

inline

◆ getCurrentAccel()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getCurrentAccel	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getCurrentAccel function.

Returns: return value of the EntityBase:: getCurrentAccel function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getCurrentAction()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getCurrentAction	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getCurrentAction function.

Returns: return value of the EntityBase:: getCurrentAction function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getCurrentTime()

auto traffic_simulator::entity::EntityManager::getCurrentTime ( ) const -> double

noexcept

◆ getCurrentTwist()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getCurrentTwist	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getCurrentTwist function.

Returns: return value of the EntityBase:: getCurrentTwist function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getDefaultMatchingDistanceForLaneletPoseCalculation	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getDefaultMatchingDistanceForLaneletPoseCalculation function.

Returns: return value of the EntityBase:: getDefaultMatchingDistanceForLaneletPoseCalculation function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getEgoName()

const std::string traffic_simulator::entity::EntityManager::getEgoName ( ) const

◆ getEntity()

auto traffic_simulator::entity::EntityManager::getEntity ( const std::string & name ) const -> std::shared_ptr<traffic_simulator::entity::EntityBase>

◆ getEntityNames()

auto traffic_simulator::entity::EntityManager::getEntityNames ( ) const -> const std::vector<std::string>

◆ getEntityStatus()

auto traffic_simulator::entity::EntityManager::getEntityStatus ( const std::string & name ) const -> CanonicalizedEntityStatus

◆ getEntityStatusBeforeUpdate()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getEntityStatusBeforeUpdate	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getEntityStatusBeforeUpdate function.

Returns: return value of the EntityBase:: getEntityStatusBeforeUpdate function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getEntityType()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getEntityType	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getEntityType function.

Returns: return value of the EntityBase:: getEntityType function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getEntityTypename()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getEntityTypename	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getEntityTypename function.

Returns: return value of the EntityBase:: getEntityTypename function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ 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> &

◆ getLaneletLength()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getLaneletLength ( Ts &&... xs ) const

inline

Forward to arguments to the HDMapUtils:: getLaneletLength function.

Returns: return value of the HDMapUtils:: getLaneletLength function.

Note: This function was defined by FORWARD_TO_HDMAP_UTILS macro.

◆ getLaneletPose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getLaneletPose	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getLaneletPose function.

Returns: return value of the EntityBase:: getLaneletPose function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getLinearJerk()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getLinearJerk	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getLinearJerk function.

Returns: return value of the EntityBase:: getLinearJerk function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getMapPose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getMapPose	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getMapPose function.

Returns: return value of the EntityBase:: getMapPose function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getMapPoseFromRelativePose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getMapPoseFromRelativePose	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getMapPoseFromRelativePose function.

Returns: return value of the EntityBase:: getMapPoseFromRelativePose function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ 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 &

◆ getRouteLanelets()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getRouteLanelets	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getRouteLanelets function.

Returns: return value of the EntityBase:: getRouteLanelets function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getStandStillDuration()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getStandStillDuration	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getStandStillDuration function.

Returns: return value of the EntityBase:: getStandStillDuration function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getStepTime()

auto traffic_simulator::entity::EntityManager::getStepTime ( ) const -> double

noexcept

◆ getTraveledDistance()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getTraveledDistance	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: getTraveledDistance function.

Returns: return value of the EntityBase:: getTraveledDistance function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ getV2ITrafficLight()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getV2ITrafficLight ( Ts &&... xs ) const

inline

◆ getV2ITrafficLights()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::getV2ITrafficLights ( Ts &&... xs ) const

inline

◆ 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

◆ is()

template<typename EntityType >

bool traffic_simulator::entity::EntityManager::is ( const std::string & name ) const

inline

◆ isControlledBySimulator()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::isControlledBySimulator	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: isControlledBySimulator function.

Returns: return value of the EntityBase:: isControlledBySimulator function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ isEgoSpawned()

bool traffic_simulator::entity::EntityManager::isEgoSpawned ( ) const

◆ isInLanelet()

bool traffic_simulator::entity::EntityManager::isInLanelet	(	const std::string &	name,
		const lanelet::Id	lanelet_id,
		const double	tolerance
	)

◆ isNpcLogicStarted()

auto traffic_simulator::entity::EntityManager::isNpcLogicStarted ( ) const

inline

◆ isStopping()

bool traffic_simulator::entity::EntityManager::isStopping ( const std::string & name ) const

◆ laneMatchingSucceed()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::laneMatchingSucceed	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: laneMatchingSucceed function.

Returns: return value of the EntityBase:: laneMatchingSucceed function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ makeDebugMarker()

visualization_msgs::msg::MarkerArray traffic_simulator::entity::EntityManager::makeDebugMarker ( ) const

◆ makeV2ITrafficLightPublisher()

template<typename... Ts>

auto traffic_simulator::entity::EntityManager::makeV2ITrafficLightPublisher ( Ts &&... xs ) -> std::shared_ptr<TrafficLightPublisherBase>

inline

◆ reachPosition()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::reachPosition	(	const std::string &	name,
		Ts &&...	xs
	)		const

inline

Forward to arguments to the EntityBase:: reachPosition function.

Returns: return value of the EntityBase:: reachPosition function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestAcquirePosition()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestAcquirePosition	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestAcquirePosition function.

Returns: return value of the EntityBase:: requestAcquirePosition function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestAssignRoute()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestAssignRoute	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestAssignRoute function.

Returns: return value of the EntityBase:: requestAssignRoute function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestClearRoute()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestClearRoute	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestClearRoute function.

Returns: return value of the EntityBase:: requestClearRoute function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestFollowTrajectory()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestFollowTrajectory	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestFollowTrajectory function.

Returns: return value of the EntityBase:: requestFollowTrajectory function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestLaneChange() [1/2]

void traffic_simulator::entity::EntityManager::requestLaneChange	(	const std::string &	name,
		const traffic_simulator::lane_change::Direction &	direction
	)

◆ requestLaneChange() [2/2]

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestLaneChange	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestLaneChange function.

Returns: return value of the EntityBase:: requestLaneChange function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestSpeedChange() [1/4]

void traffic_simulator::entity::EntityManager::requestSpeedChange	(	const std::string &	name,
		const double	target_speed,
		const speed_change::Transition	transition,
		const speed_change::Constraint	constraint,
		const bool	continuous
	)

◆ requestSpeedChange() [2/4]

void traffic_simulator::entity::EntityManager::requestSpeedChange	(	const std::string &	name,
		const speed_change::RelativeTargetSpeed &	target_speed,
		bool	continuous
	)

◆ requestSpeedChange() [3/4]

void traffic_simulator::entity::EntityManager::requestSpeedChange	(	const std::string &	name,
		const speed_change::RelativeTargetSpeed &	target_speed,
		const speed_change::Transition	transition,
		const speed_change::Constraint	constraint,
		const bool	continuous
	)

◆ requestSpeedChange() [4/4]

void traffic_simulator::entity::EntityManager::requestSpeedChange	(	const std::string &	name,
		double	target_speed,
		bool	continuous
	)

◆ requestSynchronize()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestSynchronize	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestSynchronize function.

Returns: return value of the EntityBase:: requestSynchronize function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ requestWalkStraight()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::requestWalkStraight	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: requestWalkStraight function.

Returns: return value of the EntityBase:: requestWalkStraight function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ 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

◆ resetConventionalTrafficLightPublishRate()

auto traffic_simulator::entity::EntityManager::resetConventionalTrafficLightPublishRate ( double rate ) -> void

inline

◆ resetV2ITrafficLightPublishRate()

auto traffic_simulator::entity::EntityManager::resetV2ITrafficLightPublishRate ( double rate ) -> void

inline

◆ setAcceleration()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setAcceleration	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setAcceleration function.

Returns: return value of the EntityBase:: setAcceleration function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setAccelerationLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setAccelerationLimit	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setAccelerationLimit function.

Returns: return value of the EntityBase:: setAccelerationLimit function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setAccelerationRateLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setAccelerationRateLimit	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setAccelerationRateLimit function.

Returns: return value of the EntityBase:: setAccelerationRateLimit function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setBehaviorParameter()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setBehaviorParameter	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setBehaviorParameter function.

Returns: return value of the EntityBase:: setBehaviorParameter function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setControlledBySimulator()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setControlledBySimulator	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setControlledBySimulator function.

Returns: return value of the EntityBase:: setControlledBySimulator function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setConventionalTrafficLightConfidence()

auto traffic_simulator::entity::EntityManager::setConventionalTrafficLightConfidence	(	lanelet::Id	id,
		double	confidence
	)		-> void

inline

◆ setDecelerationLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setDecelerationLimit	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setDecelerationLimit function.

Returns: return value of the EntityBase:: setDecelerationLimit function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setDecelerationRateLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setDecelerationRateLimit	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setDecelerationRateLimit function.

Returns: return value of the EntityBase:: setDecelerationRateLimit function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setEntityStatus()

auto traffic_simulator::entity::EntityManager::setEntityStatus	(	const std::string &	name,
		const CanonicalizedEntityStatus &	status
	)		-> void

◆ setLinearJerk()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setLinearJerk	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setLinearJerk function.

Returns: return value of the EntityBase:: setLinearJerk function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setLinearVelocity()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setLinearVelocity	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setLinearVelocity function.

Returns: return value of the EntityBase:: setLinearVelocity function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setMapPose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setMapPose	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setMapPose function.

Returns: return value of the EntityBase:: setMapPose function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setTwist()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setTwist	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setTwist function.

Returns: return value of the EntityBase:: setTwist function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ setVelocityLimit()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::setVelocityLimit	(	const std::string &	name,
		Ts &&...	xs
	)

inline

Forward to arguments to the EntityBase:: setVelocityLimit function.

Returns: return value of the EntityBase:: setVelocityLimit function.

Note: This function was defined by FORWARD_TO_ENTITY macro.

◆ 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,
		Ts &&...	xs
	)

inline

Note: If the entity is pedestrian or misc object, we have to consider matching to crosswalk lanelet.; fix z, roll and pitch to fitting to the lanelet

◆ startNpcLogic()

void traffic_simulator::entity::EntityManager::startNpcLogic ( const double current_time )

◆ toLaneletPose()

template<typename... Ts>

decltype(auto) traffic_simulator::entity::EntityManager::toLaneletPose ( Ts &&... xs ) const

inline

Forward to arguments to the HDMapUtils:: toLaneletPose function.

Returns: return value of the HDMapUtils:: toLaneletPose function.

Note: This function was defined by FORWARD_TO_HDMAP_UTILS macro.

◆ toMapPose()

auto traffic_simulator::entity::EntityManager::toMapPose ( const CanonicalizedLaneletPose & lanelet_pose ) const -> const geometry_msgs::msg::Pose

◆ trafficLightsChanged()

bool traffic_simulator::entity::EntityManager::trafficLightsChanged ( )

◆ 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 CanonicalizedEntityStatus &

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

Public Member Functions

Constructor & Destructor Documentation

◆ EntityManager()

◆ ~EntityManager()

Member Function Documentation

◆ activateOutOfRangeJob()

◆ asFieldOperatorApplication()

◆ broadcastEntityTransform()

◆ broadcastTransform()

◆ cancelRequest()

◆ checkCollision()

◆ createPublisher()

◆ createSubscription()

◆ despawnEntity()

◆ entityExists()

◆ fillLaneletPose()

◆ generateUpdateRequestForConventionalTrafficLights()

◆ get2DPolygon()

◆ getBehaviorParameter()

◆ getBoundingBox()

◆ getConventionalTrafficLight()

◆ getConventionalTrafficLights()

◆ getCurrentAccel()

◆ getCurrentAction()

◆ getCurrentTime()

◆ getCurrentTwist()

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

◆ getEgoName()

◆ getEntity()

◆ getEntityNames()

◆ getEntityStatus()

◆ getEntityStatusBeforeUpdate()

◆ getEntityType()

◆ getEntityTypename()

◆ getGoalPoses()

◆ getHdmapUtils()

◆ getLaneletLength()

◆ getLaneletPose()

◆ getLinearJerk()

◆ getMapPose()

◆ getMapPoseFromRelativePose()

◆ getNumberOfEgo()

◆ getObstacle()

◆ getOrigin()

◆ getPedestrianParameters()

◆ getRouteLanelets()

◆ getStandStillDuration()

◆ getStepTime()

◆ getTraveledDistance()

◆ getV2ITrafficLight()

◆ getV2ITrafficLights()

◆ getVehicleParameters()

◆ getWaypoints()

◆ is()

◆ isControlledBySimulator()

◆ isEgoSpawned()

◆ isInLanelet()

◆ isNpcLogicStarted()

◆ isStopping()

◆ laneMatchingSucceed()

◆ makeDebugMarker()

◆ makeV2ITrafficLightPublisher()

◆ reachPosition()

◆ requestAcquirePosition()

◆ requestAssignRoute()

◆ requestClearRoute()

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/2]

◆ requestLaneChange() [2/2]

◆ requestSpeedChange() [1/4]

◆ requestSpeedChange() [2/4]

◆ requestSpeedChange() [3/4]

◆ requestSpeedChange() [4/4]

◆ requestSynchronize()

◆ requestWalkStraight()

◆ resetBehaviorPlugin()

◆ resetConventionalTrafficLightPublishRate()

◆ resetV2ITrafficLightPublishRate()

◆ setAcceleration()

◆ setAccelerationLimit()