Functions
auto	makeUpdatedStatus (const traffic_simulator_msgs::msg::EntityStatus &, traffic_simulator_msgs::msg::PolylineTrajectory &, const traffic_simulator_msgs::msg::BehaviorParameter &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, double, double, std::optional< double > target_speed=std::nullopt) -> std::optional< EntityStatus >

template<typename F , typename T , typename... Ts>
auto	any (F f, T &&x, Ts &&... xs)

Function Documentation

◆ any()

template<typename F , typename T , typename... Ts>

auto traffic_simulator::follow_trajectory::any	(	F	f,
		T &&	x,
		Ts &&...	xs
	)

auto traffic_simulator::follow_trajectory::makeUpdatedStatus	(	const traffic_simulator_msgs::msg::EntityStatus &	entity_status,
		traffic_simulator_msgs::msg::PolylineTrajectory &	polyline_trajectory,
		const traffic_simulator_msgs::msg::BehaviorParameter &	behavior_parameter,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils,
		double	step_time,
		double	matching_distance,
		std::optional< double >	target_speed = `std::nullopt`
	)		-> std::optional<EntityStatus>

Note: if entity is on lane use pitch from lanelet, otherwise use pitch on target; If the nearest waypoint is arrived at in this step without a specific arrival time, it will be considered as achieved; If the trajectory has only waypoints with unspecified time, the last one is followed using maximum speed including braking - in this case accuracy of arrival is checked; If it is an intermediate waypoint with an unspecified time, the accuracy of the arrival is irrelevant; Do not change orientation if there is no designed_velocity vector; if there is a designed_velocity vector, set the orientation in the direction of it; If it is the transition between lanelets: overwrite position to improve precision; Handle lanelet transition; if entity is on lane use pitch from lanelet, otherwise use pitch on target; If the nearest waypoint is arrived at in this step without a specific arrival time, it will be considered as achieved; If the trajectory has only waypoints with unspecified time, the last one is followed using maximum speed including braking - in this case accuracy of arrival is checked; If it is an intermediate waypoint with an unspecified time, the accuracy of the arrival is irrelevant; Do not change orientation if there is no designed_velocity vector; if there is a designed_velocity vector, set the orientation in the direction of it; If it is the transition between lanelets: overwrite position to improve precision; Handle lanelet transition