vehicle_simulation::EgoEntitySimulation Class Reference

#include <ego_entity_simulation.hpp>

Public Member Functions
auto	calculateAccelerationBySlope () const -> double
auto	setAutowareStatus () -> void
	EgoEntitySimulation (const traffic_simulator_msgs::msg::EntityStatus &, const traffic_simulator_msgs::msg::VehicleParameters &, double, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const rclcpp::Parameter &use_sim_time, const bool consider_acceleration_by_road_slope)
auto	overwrite (const traffic_simulator_msgs::msg::EntityStatus &status, const double current_time, const double step_time, bool is_npc_logic_started) -> void
auto	update (const double current_time, const double step_time, const bool is_npc_logic_started) -> void
auto	requestSpeedChange (double value) -> void
auto	getStatus () const -> const traffic_simulator_msgs::msg::EntityStatus
auto	setStatus (const traffic_simulator_msgs::msg::EntityStatus &status) -> void
auto	updateStatus (const double current_time, const double step_time) -> void

Public Attributes
const std::unique_ptr< concealer::AutowareUniverse >	autoware
const std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils_ptr_
const traffic_simulator_msgs::msg::VehicleParameters	vehicle_parameters

Constructor & Destructor Documentation

EgoEntitySimulation()

vehicle_simulation::EgoEntitySimulation::EgoEntitySimulation ( const traffic_simulator_msgs::msg::EntityStatus &  initial_status, const traffic_simulator_msgs::msg::VehicleParameters &  parameters, double  step_time, const std::shared_ptr< hdmap_utils::HdMapUtils > &  hdmap_utils, const rclcpp::Parameter &  use_sim_time, const bool  consider_acceleration_by_road_slope  )

explicit

Member Function Documentation

calculateAccelerationBySlope()

auto vehicle_simulation::EgoEntitySimulation::calculateAccelerationBySlope

(

)

const -> double

getStatus()

auto vehicle_simulation::EgoEntitySimulation::getStatus

(

)

const -> const traffic_simulator_msgs::msg::EntityStatus

overwrite()

auto vehicle_simulation::EgoEntitySimulation::overwrite	(	const traffic_simulator_msgs::msg::EntityStatus &	status,
		const double	current_time,
		const double	step_time,
		bool	is_npc_logic_started
	)		-> void

requestSpeedChange()

void vehicle_simulation::EgoEntitySimulation::requestSpeedChange

(

double

value

)

-> void

setAutowareStatus()

auto vehicle_simulation::EgoEntitySimulation::setAutowareStatus

(

)

-> void

setStatus()

auto vehicle_simulation::EgoEntitySimulation::setStatus

(

const traffic_simulator_msgs::msg::EntityStatus &

status

)

-> void

Note

The lanelet matching algorithm should be equivalent to the one used in EgoEntity::setStatus

The offset value has been increased to 1.5 because a value of 1.0 was often insufficient when changing lanes. ( @Hans_Robo )

Ego uses the unique_route_lanelets get from Autoware, instead of the current lanelet_id value from EntityStatus, therefore canonicalization has to be done in advance, not inside CanonicalizedEntityStatus

update()

void vehicle_simulation::EgoEntitySimulation::update	(	const double	current_time,
		const double	step_time,
		const bool	is_npc_logic_started
	)		-> void

updateStatus()

auto vehicle_simulation::EgoEntitySimulation::updateStatus	(	const double	current_time,
		const double	step_time
	)		-> void

Member Data Documentation

autoware

const std::unique_ptr<concealer::AutowareUniverse> vehicle_simulation::EgoEntitySimulation::autoware

hdmap_utils_ptr_

const std::shared_ptr<hdmap_utils::HdMapUtils> vehicle_simulation::EgoEntitySimulation::hdmap_utils_ptr_

vehicle_parameters

const traffic_simulator_msgs::msg::VehicleParameters vehicle_simulation::EgoEntitySimulation::vehicle_parameters

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

• simulation/simple_sensor_simulator/include/simple_sensor_simulator/vehicle_simulation/ego_entity_simulation.hpp
• simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp