#include <misc_object_entity.hpp>

Inheritance diagram for traffic_simulator::entity::MiscObjectEntity:

Collaboration diagram for traffic_simulator::entity::MiscObjectEntity:

Public Member Functions
	MiscObjectEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::MiscObjectParameters &)

void	onUpdate (double, double) override

auto	getCurrentAction () const -> std::string override

auto	getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &override

auto	getEntityType () const -> const traffic_simulator_msgs::msg::EntityType &override

auto	getEntityTypename () const -> const std::string &override

	~MiscObjectEntity () override=default

auto	getGoalPoses () -> std::vector< CanonicalizedLaneletPose > override

std::optional< traffic_simulator_msgs::msg::Obstacle >	getObstacle () override

auto	getRouteLanelets (double) -> lanelet::Ids override

auto	fillLaneletPose (CanonicalizedEntityStatus &) -> void override

auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override

void	requestSpeedChange (double, bool) override

void	requestSpeedChange (const speed_change::RelativeTargetSpeed &, bool) override

void	requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &) override

void	requestAssignRoute (const std::vector< geometry_msgs::msg::Pose > &) override

void	requestAcquirePosition (const CanonicalizedLaneletPose &) override

void	requestAcquirePosition (const geometry_msgs::msg::Pose &) override

void	requestSpeedChange (const double, const speed_change::Transition, const speed_change::Constraint, const bool) override

auto	getBehaviorParameter () const -> traffic_simulator_msgs::msg::BehaviorParameter override

void	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &) override

void	setVelocityLimit (double) override

void	setAccelerationLimit (double) override

void	setAccelerationRateLimit (double) override

void	setDecelerationLimit (double) override

void	setDecelerationRateLimit (double) override

auto	getMaxAcceleration () const -> double override

auto	getMaxDeceleration () const -> double override

Public Member Functions inherited from traffic_simulator::entity::EntityBase
	EntityBase (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &)

virtual	~EntityBase ()=default

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

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

virtual void	cancelRequest ()

auto	getBoundingBox () const noexcept -> traffic_simulator_msgs::msg::BoundingBox
	Get BoundingBox of the entity. More...

auto	getCurrentAccel () const noexcept -> geometry_msgs::msg::Accel
	Get CurrentAccel of the entity. More...

auto	getCurrentTwist () const noexcept -> geometry_msgs::msg::Twist
	Get CurrentTwist of the entity. More...

auto	getDynamicConstraints () const noexcept -> traffic_simulator_msgs::msg::DynamicConstraints
	Get DynamicConstraints of the entity. More...

auto	getEntityStatusBeforeUpdate () const noexcept -> const CanonicalizedEntityStatus &
	Get EntityStatusBeforeUpdate of the entity. More...

auto	getEntitySubtype () const noexcept -> traffic_simulator_msgs::msg::EntitySubtype
	Get EntitySubtype of the entity. More...

auto	getLinearJerk () const noexcept -> double
	Get LinearJerk of the entity. More...

auto	getMapPose () const noexcept -> geometry_msgs::msg::Pose
	Get MapPose of the entity. More...

auto	getStandStillDuration () const noexcept -> double
	Get StandStillDuration of the entity. More...

auto	getStatus () const noexcept -> const CanonicalizedEntityStatus &
	Get Status of the entity. More...

auto	getTraveledDistance () const noexcept -> double
	Get TraveledDistance of the entity. More...

auto	isNpcLogicStarted () const -> bool

auto	laneMatchingSucceed () const -> bool

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

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

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

auto	getMapPoseFromRelativePose (const geometry_msgs::msg::Pose &) const -> geometry_msgs::msg::Pose

virtual auto	getDefaultMatchingDistanceForLaneletPoseCalculation () const -> double

virtual void	onPostUpdate (double current_time, double step_time)

void	resetDynamicConstraints ()

virtual void	requestLaneChange (const lanelet::Id)

virtual void	requestLaneChange (const traffic_simulator::lane_change::Parameter &)

void	requestLaneChange (const lane_change::AbsoluteTarget &, const lane_change::TrajectoryShape, const lane_change::Constraint &)

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

virtual void	requestSpeedChange (const speed_change::RelativeTargetSpeed &, const speed_change::Transition, const speed_change::Constraint, const bool)

virtual void	requestClearRoute ()

virtual auto	isControlledBySimulator () const -> bool

virtual auto	setControlledBySimulator (bool) -> void

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

virtual void	requestWalkStraight ()

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

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

virtual auto	setStatus (const CanonicalizedEntityStatus &) -> void

virtual auto	setLinearAcceleration (const double linear_acceleration) -> void

virtual auto	setLinearVelocity (const double linear_velocity) -> void

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

virtual auto	activateOutOfRangeJob (double min_velocity, double max_velocity, double min_acceleration, double max_acceleration, double min_jerk, double max_jerk) -> void

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

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

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

auto	setLinearJerk (const double liner_jerk) -> void

virtual void	startNpcLogic (const double current_time)

void	stopAtCurrentPosition ()

void	updateEntityStatusTimestamp (const double current_time)

auto	updateStandStillDuration (const double step_time) -> double

auto	updateTraveledDistance (const double step_time) -> double

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

bool	reachPosition (const CanonicalizedLaneletPose &lanelet_pose, const double tolerance) const

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

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

virtual auto	fillLaneletPose (CanonicalizedEntityStatus &status, bool include_crosswalk) -> void final

Additional Inherited Members
Public Attributes inherited from traffic_simulator::entity::EntityBase
const std::string	name

bool	verbose

Protected Attributes inherited from traffic_simulator::entity::EntityBase
CanonicalizedEntityStatus	status_

CanonicalizedEntityStatus	status_before_update_

std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils_ptr_

std::shared_ptr< traffic_simulator::TrafficLightManager >	traffic_light_manager_

bool	npc_logic_started_ = false

double	stand_still_duration_ = 0.0

double	traveled_distance_ = 0.0

double	prev_job_duration_ = 0.0

double	step_time_ = 0.0

std::unordered_map< std::string, CanonicalizedEntityStatus >	other_status_

std::optional< double >	target_speed_

traffic_simulator::job::JobList	job_list_

std::unique_ptr< traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner >	speed_planner_

Constructor & Destructor Documentation

◆ MiscObjectEntity()

traffic_simulator::entity::MiscObjectEntity::MiscObjectEntity	(	const std::string &	name,
		const CanonicalizedEntityStatus &	entity_status,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr,
		const traffic_simulator_msgs::msg::MiscObjectParameters &
	)

explicit

◆ ~MiscObjectEntity()

traffic_simulator::entity::MiscObjectEntity::~MiscObjectEntity ( )

overridedefault

Member Function Documentation

◆ fillLaneletPose()

auto traffic_simulator::entity::MiscObjectEntity::fillLaneletPose ( CanonicalizedEntityStatus & status ) -> void

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getBehaviorParameter()

auto traffic_simulator::entity::MiscObjectEntity::getBehaviorParameter ( ) const -> traffic_simulator_msgs::msg::BehaviorParameter

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getCurrentAction()

auto traffic_simulator::entity::MiscObjectEntity::getCurrentAction ( ) const -> std::string

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getDefaultDynamicConstraints()

auto traffic_simulator::entity::MiscObjectEntity::getDefaultDynamicConstraints ( ) const -> const traffic_simulator_msgs::msg::DynamicConstraints &

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getEntityType()

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

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getEntityTypename()

auto traffic_simulator::entity::MiscObjectEntity::getEntityTypename ( ) const -> const std::string &

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getGoalPoses()

auto traffic_simulator::entity::MiscObjectEntity::getGoalPoses ( ) -> std::vector<CanonicalizedLaneletPose>

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getMaxAcceleration()

auto traffic_simulator::entity::MiscObjectEntity::getMaxAcceleration ( ) const -> double

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getMaxDeceleration()

auto traffic_simulator::entity::MiscObjectEntity::getMaxDeceleration ( ) const -> double

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getObstacle()

std::optional<traffic_simulator_msgs::msg::Obstacle> traffic_simulator::entity::MiscObjectEntity::getObstacle ( )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getRouteLanelets()

auto traffic_simulator::entity::MiscObjectEntity::getRouteLanelets ( double ) -> lanelet::Ids

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getWaypoints()

auto traffic_simulator::entity::MiscObjectEntity::getWaypoints ( ) -> const traffic_simulator_msgs::msg::WaypointsArray

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ onUpdate()

void traffic_simulator::entity::MiscObjectEntity::onUpdate	(	double	,
		double	step_time
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestAcquirePosition() [1/2]

void traffic_simulator::entity::MiscObjectEntity::requestAcquirePosition ( const CanonicalizedLaneletPose & )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAcquirePosition() [2/2]

void traffic_simulator::entity::MiscObjectEntity::requestAcquirePosition ( const geometry_msgs::msg::Pose & )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [1/2]

void traffic_simulator::entity::MiscObjectEntity::requestAssignRoute ( const std::vector< CanonicalizedLaneletPose > & )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [2/2]

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

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [1/3]

void traffic_simulator::entity::MiscObjectEntity::requestSpeedChange	(	const double	,
		const speed_change::Transition	,
		const speed_change::Constraint	,
		const bool
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [2/3]

void traffic_simulator::entity::MiscObjectEntity::requestSpeedChange	(	const speed_change::RelativeTargetSpeed &	,
		bool
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [3/3]

void traffic_simulator::entity::MiscObjectEntity::requestSpeedChange	(	double	,
		bool
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ setAccelerationLimit()

void traffic_simulator::entity::MiscObjectEntity::setAccelerationLimit ( double )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setAccelerationRateLimit()

void traffic_simulator::entity::MiscObjectEntity::setAccelerationRateLimit ( double )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setBehaviorParameter()

void traffic_simulator::entity::MiscObjectEntity::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter & )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setDecelerationLimit()

void traffic_simulator::entity::MiscObjectEntity::setDecelerationLimit ( double )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setDecelerationRateLimit()

void traffic_simulator::entity::MiscObjectEntity::setDecelerationRateLimit ( double )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setVelocityLimit()

void traffic_simulator::entity::MiscObjectEntity::setVelocityLimit ( double )

inlineoverridevirtual

Implements traffic_simulator::entity::EntityBase.

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

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

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ MiscObjectEntity()

◆ ~MiscObjectEntity()

Member Function Documentation

◆ fillLaneletPose()

◆ getBehaviorParameter()

◆ getCurrentAction()

◆ getDefaultDynamicConstraints()

◆ getEntityType()

◆ getEntityTypename()

◆ getGoalPoses()

◆ getMaxAcceleration()

◆ getMaxDeceleration()

◆ getObstacle()

◆ getRouteLanelets()

◆ getWaypoints()

◆ onUpdate()

◆ requestAcquirePosition() [1/2]

◆ requestAcquirePosition() [2/2]

◆ requestAssignRoute() [1/2]

◆ requestAssignRoute() [2/2]

◆ requestSpeedChange() [1/3]

◆ requestSpeedChange() [2/3]

◆ requestSpeedChange() [3/3]

◆ setAccelerationLimit()

◆ setAccelerationRateLimit()

◆ setBehaviorParameter()

◆ setDecelerationLimit()

◆ setDecelerationRateLimit()

◆ setVelocityLimit()