#include <vehicle_entity.hpp>

Inheritance diagram for traffic_simulator::entity::VehicleEntity:

Collaboration diagram for traffic_simulator::entity::VehicleEntity:

Classes
struct	BuiltinBehavior

Public Member Functions
	VehicleEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::VehicleParameters &, const std::string &plugin_name=BuiltinBehavior::defaultBehavior())

	~VehicleEntity () override=default

void	appendDebugMarker (visualization_msgs::msg::MarkerArray &marker_array) override

void	cancelRequest () override

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

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

auto	getDefaultMatchingDistanceForLaneletPoseCalculation () const -> double override

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

auto	getMaxAcceleration () const -> double override

auto	getMaxDeceleration () const -> double override

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

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

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

auto	getRouteLanelets (double horizon=100) -> lanelet::Ids override

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

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

void	requestAcquirePosition (const CanonicalizedLaneletPose &)

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

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

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

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

void	requestLaneChange (const lanelet::Id to_lanelet_id) override

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

void	setVelocityLimit (double linear_velocity) override

void	setAccelerationLimit (double acceleration) override

void	setAccelerationRateLimit (double acceleration_rate) override

void	setDecelerationLimit (double deceleration) override

void	setDecelerationRateLimit (double deceleration_rate) override

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

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

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

virtual	~EntityBase ()=default

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

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 >

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

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

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

void	resetDynamicConstraints ()

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 void	requestWalkStraight ()

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

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 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	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 traffic_simulator_msgs::msg::VehicleParameters	vehicle_parameters

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

bool	verbose

Additional Inherited Members
Protected Attributes inherited from traffic_simulator::entity::EntityBase
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

◆ VehicleEntity()

traffic_simulator::entity::VehicleEntity::VehicleEntity	(	const std::string &	name,
		const CanonicalizedEntityStatus &	entity_status,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr,
		const traffic_simulator_msgs::msg::VehicleParameters &	parameters,
		const std::string &	plugin_name = `BuiltinBehavior::defaultBehavior()`
	)

explicit

◆ ~VehicleEntity()

traffic_simulator::entity::VehicleEntity::~VehicleEntity ( )

overridedefault

Member Function Documentation

◆ appendDebugMarker()

void traffic_simulator::entity::VehicleEntity::appendDebugMarker ( visualization_msgs::msg::MarkerArray & marker_array )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ cancelRequest()

void traffic_simulator::entity::VehicleEntity::cancelRequest ( )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ getBehaviorParameter()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getCurrentAction()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getDefaultDynamicConstraints()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

auto traffic_simulator::entity::VehicleEntity::getDefaultMatchingDistanceForLaneletPoseCalculation ( ) const -> double

overridevirtual

Note: The lanelet matching algorithm should be equivalent to the one used in EgoEntitySimulation::setStatus; The offset value has been increased to 1.5 because a value of 1.0 was often insufficient when changing lanes. ( @Hans_Robo )

Reimplemented from traffic_simulator::entity::EntityBase.

◆ getEntityTypename()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getGoalPoses()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getMaxAcceleration()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getMaxDeceleration()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getObstacle()

auto traffic_simulator::entity::VehicleEntity::getObstacle ( ) -> std::optional<traffic_simulator_msgs::msg::Obstacle>

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getRouteLanelets()

auto traffic_simulator::entity::VehicleEntity::getRouteLanelets ( double horizon = 100 ) -> lanelet::Ids

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getWaypoints()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ onUpdate()

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

overridevirtual

Note: CanonicalizedEntityStatus is updated here, it is not skipped even if isAtEndOfLanelets return true

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestAcquirePosition() [1/2]

void traffic_simulator::entity::VehicleEntity::requestAcquirePosition ( const CanonicalizedLaneletPose & lanelet_pose )

virtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAcquirePosition() [2/2]

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [1/2]

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [2/2]

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestFollowTrajectory()

auto traffic_simulator::entity::VehicleEntity::requestFollowTrajectory ( const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > & parameter ) -> void

overridevirtual

Todo:: such a protection most likely makes sense, but test scenario RoutingAction.FollowTrajectoryAction-star has waypoints outside lanelet2

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestLaneChange() [1/2]

void traffic_simulator::entity::VehicleEntity::requestLaneChange ( const lanelet::Id to_lanelet_id )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestLaneChange() [2/2]

void traffic_simulator::entity::VehicleEntity::requestLaneChange ( const traffic_simulator::lane_change::Parameter & parameter )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ setAccelerationLimit()

void traffic_simulator::entity::VehicleEntity::setAccelerationLimit ( double acceleration )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setAccelerationRateLimit()

void traffic_simulator::entity::VehicleEntity::setAccelerationRateLimit ( double acceleration_rate )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setBehaviorParameter()

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

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setDecelerationLimit()

void traffic_simulator::entity::VehicleEntity::setDecelerationLimit ( double deceleration )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setDecelerationRateLimit()

void traffic_simulator::entity::VehicleEntity::setDecelerationRateLimit ( double deceleration_rate )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setTrafficLights()

void traffic_simulator::entity::VehicleEntity::setTrafficLights ( const std::shared_ptr< traffic_simulator::TrafficLightsBase > & ptr )

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ setVelocityLimit()

void traffic_simulator::entity::VehicleEntity::setVelocityLimit ( double linear_velocity )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

Member Data Documentation

◆ vehicle_parameters

const traffic_simulator_msgs::msg::VehicleParameters traffic_simulator::entity::VehicleEntity::vehicle_parameters

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

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

Classes

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ VehicleEntity()

◆ ~VehicleEntity()

Member Function Documentation

◆ appendDebugMarker()

◆ cancelRequest()

◆ getBehaviorParameter()

◆ getCurrentAction()

◆ getDefaultDynamicConstraints()

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

◆ getEntityTypename()

◆ getGoalPoses()

◆ getMaxAcceleration()

◆ getMaxDeceleration()

◆ getObstacle()

◆ getRouteLanelets()

◆ getWaypoints()

◆ onUpdate()

◆ requestAcquirePosition() [1/2]

◆ requestAcquirePosition() [2/2]

◆ requestAssignRoute() [1/2]

◆ requestAssignRoute() [2/2]

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/2]

◆ requestLaneChange() [2/2]

◆ setAccelerationLimit()

◆ setAccelerationRateLimit()

◆ setBehaviorParameter()

◆ setDecelerationLimit()

◆ setDecelerationRateLimit()

◆ setTrafficLights()

◆ setVelocityLimit()

Member Data Documentation

◆ vehicle_parameters