traffic_simulator::helper Namespace Reference

Classes
class	StopWatch

Enumerations
enum class	LidarType { VLP16 , VLP32 }

Functions
traffic_simulator_msgs::msg::ActionStatus	constructActionStatus (double linear_vel=0, double angular_vel=0, double linear_accel=0, double angular_accel=0)
	helper function for constructing action status More...
LaneletPose	constructLaneletPose (lanelet::Id lanelet_id, double s, double offset=0, double roll=0, double pitch=0, double yaw=0)
	helper function for constructing lanelet pose More...
auto	constructCanonicalizedLaneletPose (lanelet::Id lanelet_id, double s, double offset, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> CanonicalizedLaneletPose
	helper function for constructing canonicalized lanelet pose More...
auto	constructCanonicalizedLaneletPose (lanelet::Id lanelet_id, double s, double offset, double roll, double pitch, double yaw, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr) -> CanonicalizedLaneletPose
	helper function for constructing canonicalized lanelet pose More...
geometry_msgs::msg::Vector3	constructRPY (double roll=0, double pitch=0, double yaw=0)
	helper function for constructing rpy More...
geometry_msgs::msg::Vector3	constructRPYfromQuaternion (geometry_msgs::msg::Quaternion quaternion)
	helper function for constructing rpy More...
geometry_msgs::msg::Pose	constructPose (double x, double y, double z, double roll, double pitch, double yaw)
	helper function for constructing pose More...
template<typename T >
std::vector< T >	getUniqueValues (const std::vector< T > &input_vector)
	helper function for creating vector without duplicates, with preserved order More...
const simulation_api_schema::LidarConfiguration	constructLidarConfiguration (const LidarType type, const std::string &entity, const std::string &architecture_type, const double lidar_sensor_delay=0, const double horizontal_resolution=1.0/180.0 *M_PI)
const simulation_api_schema::DetectionSensorConfiguration	constructDetectionSensorConfiguration (const std::string &entity, const std::string &architecture_type, const double update_duration, const double range=300.0, const bool detect_all_objects_in_range=false, const double pos_noise_stddev=0, const int random_seed=0, const double probability_of_lost=0, const double object_recognition_delay=0, const double object_recognition_ground_truth_delay=0)

Enumeration Type Documentation

LidarType

enum traffic_simulator::helper::LidarType

strong

Enumerator
VLP16
VLP32

Function Documentation

constructActionStatus()

traffic_simulator_msgs::msg::ActionStatus traffic_simulator::helper::constructActionStatus	(	double	linear_vel = 0,
		double	angular_vel = 0,
		double	linear_accel = 0,
		double	angular_accel = 0
	)

helper function for constructing action status

Parameters

linear_vel	linear velocity
angular_vel	angular velocity
linear_accel	linear acceleration
angular_accel	angular acceleration

Returns

traffic_simulator_msgs::msg::ActionStatus

constructCanonicalizedLaneletPose() [1/2]

auto traffic_simulator::helper::constructCanonicalizedLaneletPose	(	lanelet::Id	lanelet_id,
		double	s,
		double	offset,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> CanonicalizedLaneletPose

helper function for constructing canonicalized lanelet pose

Parameters

lanelet_id	lanelet id
s	s value in lane coordinate
offset	offset value in lane coordinate
hdmap_utils_ptr	pointer to HdmapUtils

Returns

LaneletPose

constructCanonicalizedLaneletPose() [2/2]

auto traffic_simulator::helper::constructCanonicalizedLaneletPose	(	lanelet::Id	lanelet_id,
		double	s,
		double	offset,
		double	roll,
		double	pitch,
		double	yaw,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr
	)		-> CanonicalizedLaneletPose

helper function for constructing canonicalized lanelet pose

Parameters

lanelet_id	lanelet id
s	s value in lane coordinate
offset	offset value in lane coordinate
roll	roll value in the lane coordinate
pitch	pitch value in the lane coordinate
yaw	yaw value in the lane coordinate
hdmap_utils_ptr	pointer to HdmapUtils

Returns

LaneletPose

constructDetectionSensorConfiguration()

const simulation_api_schema::DetectionSensorConfiguration traffic_simulator::helper::constructDetectionSensorConfiguration	(	const std::string &	entity,
		const std::string &	architecture_type,
		const double	update_duration,
		const double	range = 300.0,
		const bool	detect_all_objects_in_range = false,
		const double	pos_noise_stddev = 0,
		const int	random_seed = 0,
		const double	probability_of_lost = 0,
		const double	object_recognition_delay = 0,
		const double	object_recognition_ground_truth_delay = 0
	)

constructLaneletPose()

LaneletPose traffic_simulator::helper::constructLaneletPose	(	lanelet::Id	lanelet_id,
		double	s,
		double	offset = 0,
		double	roll = 0,
		double	pitch = 0,
		double	yaw = 0
	)

helper function for constructing lanelet pose

Parameters

lanelet_id	lanelet id
s	s value in lane coordinate
offset	offset value in lane coordinate
roll	roll value in the lane coordinate
pitch	pitch value in the lane coordinate
yaw	yaw value in the lane coordinate

Returns

LaneletPose

constructLidarConfiguration()

const simulation_api_schema::LidarConfiguration traffic_simulator::helper::constructLidarConfiguration	(	const LidarType	type,
		const std::string &	entity,
		const std::string &	architecture_type,
		const double	lidar_sensor_delay = 0,
		const double	horizontal_resolution = 1.0 / 180.0 * M_PI
	)

constructPose()

geometry_msgs::msg::Pose traffic_simulator::helper::constructPose	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw
	)

helper function for constructing pose

Parameters

x	x value in position
y	y value in position
z	z value in position
roll	roll value in orientation
pitch	pitch value in orientation
yaw	yaw value in orientation

Returns

geometry_msgs::msg::Pose

constructRPY()

geometry_msgs::msg::Vector3 traffic_simulator::helper::constructRPY	(	double	roll = 0,
		double	pitch = 0,
		double	yaw = 0
	)

helper function for constructing rpy

Parameters

roll	roll value of the orientation
pitch	pitch value of the orientation
yaw	yaw value of the orientation

Returns

geometry_msgs::msg::Vector3 RPY values

constructRPYfromQuaternion()

geometry_msgs::msg::Vector3 traffic_simulator::helper::constructRPYfromQuaternion

(

geometry_msgs::msg::Quaternion

quaternion

)

helper function for constructing rpy

Parameters

quaternion

quaternion class

Returns

geometry_msgs::msg::Vector3 RPY value

getUniqueValues()

template<typename T >

std::vector<T> traffic_simulator::helper::getUniqueValues

(

const std::vector< T > &

input_vector

)

helper function for creating vector without duplicates, with preserved order

Parameters

vector

input std::vector

Returns

new std::vector without duplicates and with relative order preserved