traffic_simulator Namespace Reference

Namespaces
	behavior
	distance
	entity
	entity_status
	follow_trajectory
	helper
	job
	lane_change
	lanelet_map
	lanelet_pose
	lanelet_wrapper
	longitudinal_speed_planning
	pedestrian
	pose
	route
	routing_graph_type
	speed_change
	traffic

Classes
struct	VehicleBehavior
struct	PedestrianBehavior
class	API
struct	Configuration
class	RoutePlanner
struct	RoutingConfiguration
class	SimulationClock
class	ConfigurableRateUpdater
struct	TrafficLight
class	TrafficLightMarkerPublisher
class	TrafficLightPublisherBase
class	TrafficLightPublisher
class	ConventionalTrafficLights
class	V2ITrafficLights
class	TrafficLights
class	TrafficLightsBase
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
using	Point = geometry_msgs::msg::Point
using	Pose = geometry_msgs::msg::Pose

Enumerations
enum class	RoutingGraphType : std::uint8_t { VEHICLE , PEDESTRIAN , VEHICLE_WITH_ROAD_SHOULDER }

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
char const *	to_string (const RoutingGraphType &)
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	lateralDistance (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, double matching_distance, const traffic_simulator::RoutingConfiguration &routing_configuration, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> std::optional< double >
auto	countLaneChanges (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const traffic_simulator::RoutingConfiguration &routing_configuration, 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, const traffic_simulator::RoutingConfiguration &routing_configuration, 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 >
auto	distanceToSpline (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::BoundingBox &bounding_box, const math::geometry::CatmullRomSplineInterface &spline, const double s_reference) -> double
template<typename... Ts>
auto	activate (Ts &&... xs)
auto	laneletLength (const lanelet::Id lanelet_id) -> double
template<typename... Ts>
auto	laneletAltitude (Ts &&... xs)
auto	noNextLaneletPoses () -> std::vector< std::pair< lanelet::Id, Pose >>
	Calculates all poses on the map that have no next lanelet (dead ends) More...
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) -> LaneletPose
auto	canonicalize (const LaneletPose &lanelet_pose, const lanelet::Ids &route_lanelets) -> LaneletPose
auto	toMapPose (const CanonicalizedLaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
auto	toMapPose (const LaneletPose &lanelet_pose) -> geometry_msgs::msg::Pose
auto	alternativeLaneletPoses (const LaneletPose &lanelet_pose) -> std::vector< LaneletPose >
auto	toCanonicalizedLaneletPose (const LaneletPose &lanelet_pose) -> std::optional< CanonicalizedLaneletPose >
auto	toCanonicalizedLaneletPose (const geometry_msgs::msg::Pose &map_pose, const bool include_crosswalk) -> 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) -> 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) -> std::optional< CanonicalizedLaneletPose >
auto	transformRelativePoseToGlobal (const geometry_msgs::msg::Pose &global_pose, const geometry_msgs::msg::Pose &relative_pose) -> geometry_msgs::msg::Pose
auto	updatePositionForLaneletTransition (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const lanelet::Id next_lanelet_id, const geometry_msgs::msg::Vector3 &desired_velocity, const bool desired_velocity_is_global, const double step_time) -> std::optional< geometry_msgs::msg::Point >
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	isAltitudeMatching (const CanonicalizedLaneletPose &lanelet_pose, const CanonicalizedLaneletPose &target_lanelet_pose) -> bool
auto	relativeLaneletPose (const CanonicalizedLaneletPose &from, const CanonicalizedLaneletPose &to, const RoutingConfiguration &routing_configuration, 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 RoutingConfiguration &routing_configuration, 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	isInLanelet (const geometry_msgs::msg::Point &point, const lanelet::Id lanelet_id) -> bool
auto	isAtEndOfLanelets (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> bool
auto	findRoutableAlternativeLaneletPoseFrom (const lanelet::Id from_lanelet_id, const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const traffic_simulator_msgs::msg::BoundingBox &to_bounding_box) -> std::optional< traffic_simulator::CanonicalizedLaneletPose >
template<typename... Ts>
auto	route (Ts &&... xs)
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 &