traffic_simulator::follow_trajectory::PredictedEntityStatus Struct Reference

#include <follow_waypoint_controller.hpp>

Public Member Functions
	PredictedEntityStatus (const traffic_simulator_msgs::msg::EntityStatus &status)
	PredictedEntityStatus (const traffic_simulator_msgs::msg::EntityStatus &status, const double traveled_distance, const double travel_time)
template<typename UpdateEntityStatusFunc , typename DistanceAlongLaneletFunc >
auto	step (const double step_acceleration, const double step_time, const UpdateEntityStatusFunc &update_entity_status, const DistanceAlongLaneletFunc &distance_along_lanelet) -> void
	Advance simulation by one time step with given acceleration. More...
auto	getEntityStatus () const -> const traffic_simulator_msgs::msg::EntityStatus &
auto	getSpeed () const -> double
auto	getAcceleration () const -> double
auto	isImmobile (const double tolerance) const -> bool

Public Attributes
double	traveled_distance
double	travel_time

Static Public Attributes
static constexpr bool	use_distance_along_lanelet = false

Constructor & Destructor Documentation

PredictedEntityStatus() [1/2]

traffic_simulator::follow_trajectory::PredictedEntityStatus::PredictedEntityStatus ( const traffic_simulator_msgs::msg::EntityStatus &  status )

inlineexplicit

PredictedEntityStatus() [2/2]

traffic_simulator::follow_trajectory::PredictedEntityStatus::PredictedEntityStatus ( const traffic_simulator_msgs::msg::EntityStatus &  status, const double  traveled_distance, const double  travel_time  )

inlineexplicit

Member Function Documentation

getAcceleration()

auto traffic_simulator::follow_trajectory::PredictedEntityStatus::getAcceleration ( ) const -> double

inline

getEntityStatus()

auto traffic_simulator::follow_trajectory::PredictedEntityStatus::getEntityStatus ( ) const -> const traffic_simulator_msgs::msg::EntityStatus &

inline

getSpeed()

auto traffic_simulator::follow_trajectory::PredictedEntityStatus::getSpeed ( ) const -> double

inline

isImmobile()

auto traffic_simulator::follow_trajectory::PredictedEntityStatus::isImmobile ( const double  tolerance ) const -> bool

inline

step()

template<typename UpdateEntityStatusFunc , typename DistanceAlongLaneletFunc >

auto traffic_simulator::follow_trajectory::PredictedEntityStatus::step ( const double  step_acceleration, const double  step_time, const UpdateEntityStatusFunc &  update_entity_status, const DistanceAlongLaneletFunc &  distance_along_lanelet  ) -> void

inline

Advance simulation by one time step with given acceleration.

If use_distance_along_lanelet=false (default): Uses 1D kinematic model with trapezoidal integration. Speed and acceleration updated directly. Distance integrated using average speed (exact for constant acceleration).

If use_distance_along_lanelet=true: Uses lanelet-aware distance calculation for high accuracy. Requires update_entity_status and distance_along_lanelet functions.

Parameters

step_acceleration	Acceleration to apply [m/s²]
step_time	Time step duration [s]
update_entity_status	Function to update entity status (used when use_distance_along_lanelet=true)
distance_along_lanelet	Function to compute distance along lanelet (used when use_distance_along_lanelet=true)

Note

pitch is negated to match the convention: positive pitch = upward motion

Member Data Documentation

travel_time

double traffic_simulator::follow_trajectory::PredictedEntityStatus::travel_time

traveled_distance

double traffic_simulator::follow_trajectory::PredictedEntityStatus::traveled_distance

use_distance_along_lanelet

constexpr bool traffic_simulator::follow_trajectory::PredictedEntityStatus::use_distance_along_lanelet = false

staticconstexpr

Note

compile-time flag to switch between 1D kinematics (false) and lanelet-aware distance (true) set to true for high-accuracy validation/debugging, default false for production performance

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The documentation for this struct was generated from the following file:

• simulation/traffic_simulator/include/traffic_simulator/behavior/follow_waypoint_controller.hpp