traffic_simulator Namespace Reference

Namespaces
	behavior
	distance
	entity
	entity_status
	follow_trajectory
	helper
	job
	lane_change
	lanelet_pose
	longitudinal_speed_planning
	pedestrian
	pose
	speed_change
	traffic

Classes
struct	VehicleBehavior
struct	PedestrianBehavior
class	API
struct	Configuration
class	RoutePlanner
class	SimulationClock
class	ConfigurableRateUpdater
struct	TrafficLight
class	TrafficLightManager
class	TrafficLightMarkerPublisher
class	TrafficLightPublisherBase
class	TrafficLightPublisher
class	VisualizationComponent
	ROS 2 component for visualizing simulation result. More...
class	CanonicalizedEntityStatus
class	CanonicalizedLaneletPose

Typedefs
using	EntityStatus = traffic_simulator_msgs::msg::EntityStatus
using	EntityType = traffic_simulator_msgs::msg::EntityType
using	EntitySubtype = traffic_simulator_msgs::msg::EntitySubtype
using	LaneletPose = traffic_simulator_msgs::msg::LaneletPose

Functions
auto	isSameLaneletId (const CanonicalizedEntityStatus &first_status, const CanonicalizedEntityStatus &second_status) -> bool
auto	isSameLaneletId (const CanonicalizedEntityStatus &status, const lanelet::Id lanelet_id) -> bool
auto	isSameLaneletId (const CanonicalizedLaneletPose &, const CanonicalizedLaneletPose &) -> bool
auto	isSameLaneletId (const CanonicalizedLaneletPose &, const lanelet::Id lanelet_id) -> bool
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, double matching_distance, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	countLaneChanges (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< std::pair< int, int >>
auto	longitudinalDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	boundingBoxDistance (const geometry_msgs::msg::Pose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const geometry_msgs::msg::Pose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box) -> std::optional< double >
auto	boundingBoxLaneLateralDistance (const CanonicalizedLaneletPose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const CanonicalizedLaneletPose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	boundingBoxLaneLongitudinalDistance (const CanonicalizedLaneletPose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const CanonicalizedLaneletPose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box, bool include_adjacent_lanelet, bool include_opposite_direction, bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	distanceToLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToLeftLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToRightLaneBound (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &lanelet_ids, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	distanceToCrosswalk (const traffic_simulator_msgs::msg::WaypointsArray &waypoints_array, const lanelet::Id target_crosswalk_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	distanceToStopLine (const traffic_simulator_msgs::msg::WaypointsArray &waypoints_array, const lanelet::Id target_stop_line_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
template<typename ParameterT >
auto	getParameter (rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, const std::string &name, const ParameterT &default_value={}) -> ParameterT
auto	quietNaNPose () -> geometry_msgs::msg::Pose
auto	quietNaNLaneletPose () -> LaneletPose
auto	canonicalize (const LaneletPose &lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
auto	toMapPose (const CanonicalizedLaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
auto	toMapPose (const LaneletPose &lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> geometry_msgs::msg::Pose
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const bool include_crosswalk, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const bool include_crosswalk, const double matching_distance, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const lanelet::Ids &unique_route_lanelets, const bool include_crosswalk, const double matching_distance, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< CanonicalizedLaneletPose >
auto	transformRelativePoseToGlobal (const geometry_msgs::msg::Pose &global_pose, const geometry_msgs::msg::Pose &relative_pose) -> geometry_msgs::msg::Pose
auto	relativePose (const geometry_msgs::msg::Pose &from, const geometry_msgs::msg::Pose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	relativePose (const geometry_msgs::msg::Pose &from, const CanonicalizedLaneletPose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	relativePose (const CanonicalizedLaneletPose &from, const geometry_msgs::msg::Pose &to) -> std::optional< geometry_msgs::msg::Pose >
auto	boundingBoxRelativePose (const geometry_msgs::msg::Pose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const geometry_msgs::msg::Pose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box) -> std::optional< geometry_msgs::msg::Pose >
auto	relativeLaneletPose (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
auto	boundingBoxRelativeLaneletPose (const CanonicalizedLaneletPose &from, const traffic_simulator_msgs::msg::BoundingBox &from_bounding_box, const CanonicalizedLaneletPose &to, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box, const bool allow_lane_change, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> LaneletPose
auto	isInLanelet (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lanelet::Id lanelet_id, const double tolerance, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
auto	isAtEndOfLanelets (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
auto	laneletLength (const lanelet::Id lanelet_id, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> double
auto	operator>> (std::istream &is, TrafficLight::Color &color) -> std::istream &
auto	operator<< (std::ostream &os, const TrafficLight::Color &color) -> std::ostream &
auto	operator>> (std::istream &is, TrafficLight::Status &status) -> std::istream &
auto	operator<< (std::ostream &os, const TrafficLight::Status &status) -> std::ostream &
auto	operator>> (std::istream &is, TrafficLight::Shape &shape) -> std::istream &
auto	operator<< (std::ostream &os, const TrafficLight::Shape &shape) -> std::ostream &
auto	operator<< (std::ostream &os, const TrafficLight::Bulb &bulb) -> std::ostream &
auto	operator<< (std::ostream &os, const TrafficLight &traffic_light) -> std::ostream &

Typedef Documentation

EntityStatus

using traffic_simulator::EntityStatus = typedef traffic_simulator_msgs::msg::EntityStatus

EntitySubtype

using traffic_simulator::EntitySubtype = typedef traffic_simulator_msgs::msg::EntitySubtype

EntityType

using traffic_simulator::EntityType = typedef traffic_simulator_msgs::msg::EntityType

LaneletPose

using traffic_simulator::LaneletPose = typedef traffic_simulator_msgs::msg::LaneletPose

Function Documentation

getParameter()

template<typename ParameterT >

auto traffic_simulator::getParameter	(	rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	node_parameters,
		const std::string &	name,
		const ParameterT &	default_value = {}
	)		-> ParameterT

Get parameter or declare it if it has not been declared before. Declare it with a default value.

Parameters

node_parameters	The node parameters interface pointer, it will be used to access the parameters
name	The name of the parameter
default_value	The default value of the parameter

Returns

The value of the parameter

isSameLaneletId() [1/4]

auto traffic_simulator::isSameLaneletId	(	const CanonicalizedEntityStatus &	first_status,
		const CanonicalizedEntityStatus &	second_status
	)		-> bool

isSameLaneletId() [2/4]

auto traffic_simulator::isSameLaneletId	(	const CanonicalizedEntityStatus &	status,
		const lanelet::Id	lanelet_id
	)		-> bool

isSameLaneletId() [3/4]

auto traffic_simulator::isSameLaneletId	(	const CanonicalizedLaneletPose &	p0,
		const CanonicalizedLaneletPose &	p1
	)		-> bool

isSameLaneletId() [4/4]

auto traffic_simulator::isSameLaneletId	(	const CanonicalizedLaneletPose &	p,
		const lanelet::Id	lanelet_id
	)		-> bool

operator<<() [1/5]

auto traffic_simulator::operator<<	(	std::ostream &	os,
		const TrafficLight &	traffic_light
	)		-> std::ostream &

operator<<() [2/5]

auto traffic_simulator::operator<<	(	std::ostream &	os,
		const TrafficLight::Bulb &	bulb
	)		-> std::ostream &

operator<<() [3/5]

auto traffic_simulator::operator<<	(	std::ostream &	os,
		const TrafficLight::Color &	color
	)		-> std::ostream &

operator<<() [4/5]

auto traffic_simulator::operator<<	(	std::ostream &	os,
		const TrafficLight::Shape &	shape
	)		-> std::ostream &

operator<<() [5/5]

auto traffic_simulator::operator<<	(	std::ostream &	os,
		const TrafficLight::Status &	status
	)		-> std::ostream &

operator>>() [1/3]

auto traffic_simulator::operator>>	(	std::istream &	is,
		TrafficLight::Color &	color
	)		-> std::istream &

operator>>() [2/3]

auto traffic_simulator::operator>>	(	std::istream &	is,
		TrafficLight::Shape &	shape
	)		-> std::istream &

operator>>() [3/3]

auto traffic_simulator::operator>>	(	std::istream &	is,
		TrafficLight::Status &	status
	)		-> std::istream &