carla::traffic_manager 命名空间参考

命名空间
namespace	constants
namespace	PID

类
struct	ActuationSignal
	Structure to hold the actuation signals. 更多...
class	ALSM
	ALSM: Agent Lifecycle and State Managerment This class has functionality to update the local cache of kinematic states and manage memory and cleanup for varying number of vehicles in the simulation. 更多...
class	AtomicActorSet
class	AtomicMap
class	CachedSimpleWaypoint
struct	ChangeLaneInfo
struct	CollisionHazardData
struct	CollisionLock
class	CollisionStage
	This class has functionality to detect potential collision with a nearby actor. 更多...
struct	GeometryComparison
class	InMemoryMap
	This class builds a discretized local map-cache. 更多...
struct	KinematicState
struct	LocalizationData
class	LocalizationStage
	This class has functionality to maintain a horizon of waypoints ahead of the vehicle for it to follow. 更多...
class	MotionPlanStage
class	Parameters
class	RandomGenerator
class	SimpleWaypoint
	This is a simple wrapper class on Carla's waypoint object. 更多...
class	SimulationState
	This class holds the state of all the vehicles in the simlation. 更多...
class	SnippetProfiler
class	Stage
	Stage type interface. 更多...
struct	StateEntry
	Structure to hold the controller state. 更多...
struct	StaticAttributes
class	TrackTraffic
class	TrafficLightStage
	This class has functionality for responding to traffic lights and managing entry into non-signalized junctions. 更多...
struct	TrafficLightState
class	TrafficManager
	This class integrates all the various stages of the traffic manager appropriately using messengers. 更多...
class	TrafficManagerBase
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. 更多...
class	TrafficManagerClient
	Provides communication with the rpc of TrafficManagerServer. 更多...
class	TrafficManagerLocal
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. 更多...
class	TrafficManagerRemote
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. 更多...
class	TrafficManagerServer
class	VehicleLightStage
	This class has functionality for turning on/off the vehicle lights according to the current vehicle state and its surrounding environment. 更多...

类型定义
using	Action = std::pair<RoadOption, WaypointPtr>
using	ActionBuffer = std::vector<Action>
using	Actor = carla::SharedPtr<cc::Actor>
using	ActorId = carla::ActorId
using	ActorIdSet = std::unordered_set<ActorId>
using	ActorList = carla::SharedPtr<cc::ActorList>
using	ActorMap = std::unordered_map<ActorId, ActorPtr>
using	ActorPtr = carla::SharedPtr<cc::Actor>
using	Box = bg::model::box<Point3D>
using	Buffer = std::deque<std::shared_ptr<SimpleWaypoint>>
using	BufferMap = std::unordered_map<carla::ActorId, Buffer>
using	CollisionFrame = std::vector<CollisionHazardData>
using	CollisionLockMap = std::unordered_map<ActorId, CollisionLock>
using	ControlFrame = std::vector<carla::rpc::Command>
using	GeodesicBoundaryMap = std::unordered_map<ActorId, LocationVector>
using	GeoGridId = crd::JuncId
using	GeometryComparisonMap = std::unordered_map<uint64_t, GeometryComparison>
using	IdleTimeMap = std::unordered_map<ActorId, double>
using	Junction = carla::SharedPtr<carla::client::Junction>
using	JunctionID = carla::road::JuncId
using	KinematicStateMap = std::unordered_map<ActorId, KinematicState>
using	LaneChangeSWptMap = std::unordered_map<ActorId, SimpleWaypointPtr>
using	LocalizationFrame = std::vector<LocalizationData>
using	LocalMapPtr = std::shared_ptr<InMemoryMap>
using	LocationVector = std::vector<cg::Location>
using	NodeList = std::vector<SimpleWaypointPtr>
using	Path = std::vector<cg::Location>
using	Point2D = bg::model::point<double, 2, bg::cs::cartesian>
using	Point3D = bg::model::point<float, 3, bg::cs::cartesian>
using	Polygon = bg::model::polygon<bg::model::d2::point_xy<double>>
using	RawNodeList = std::vector<WaypointPtr>
using	Route = std::vector<uint8_t>
using	Rtree = bgi::rtree<SpatialTreeEntry, bgi::rstar<16>>
using	SegmentId = std::tuple<crd::RoadId, crd::LaneId, crd::SectionId>
using	SegmentMap = std::map<SegmentId, std::vector<SimpleWaypointPtr>>
using	SegmentTopology = std::map<SegmentId, std::pair<std::vector<SegmentId>, std::vector<SegmentId>>>
using	SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>
using	SpatialTreeEntry = std::pair<Point3D, SimpleWaypointPtr>
using	StaticAttributeMap = std::unordered_map<ActorId, StaticAttributes>
using	TargetWPInfo = std::pair<SimpleWaypointPtr,uint64_t>
	Method to return the wayPoints from the waypoint Buffer by using target point distance
using	TimeInstance = chr::time_point<chr::system_clock, chr::nanoseconds>
using	TimePoint = chr::time_point<chr::system_clock, chr::nanoseconds>
using	TLFrame = std::vector<bool>
using	TLGroup = std::vector<carla::SharedPtr<carla::client::TrafficLight>>
using	TLMap = std::unordered_map<std::string, SharedPtr<client::Actor>>
using	TLS = carla::rpc::TrafficLightState
using	TopologyList = std::vector<std::pair<WaypointPtr, WaypointPtr>>
using	TrafficLightStateMap = std::unordered_map<ActorId, TrafficLightState>
using	WaypointPtr = carla::SharedPtr<cc::Waypoint>
using	WorldMap = carla::SharedPtr<const cc::Map>

枚举
enum	ActorType { Vehicle , Pedestrian , Any }
enum class	RoadOption : uint8_t {   Void = 0 , Left = 1 , Right = 2 , Straight = 3 ,   LaneFollow = 4 , ChangeLaneLeft = 5 , ChangeLaneRight = 6 , RoadEnd = 7 }

函数
float	DeviationCrossProduct (const cg::Location &reference_location, const cg::Vector3D &heading_vector, const cg::Location &target_location)
	Returns the cross product (z component value) between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.
float	DeviationDotProduct (const cg::Location &reference_location, const cg::Vector3D &heading_vector, const cg::Location &target_location)
	Returns the dot product between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.
TargetWPInfo	GetTargetWaypoint (const Buffer &waypoint_buffer, const float &target_point_distance)
void	PopWaypoint (ActorId actor_id, TrackTraffic &track_traffic, Buffer &buffer, bool front_or_back)
void	PushWaypoint (ActorId actor_id, TrackTraffic &track_traffic, Buffer &buffer, SimpleWaypointPtr &waypoint)

类型定义说明

Action

typedef std::pair< RoadOption, WaypointPtr > carla::traffic_manager::Action = std::pair<RoadOption, WaypointPtr>

在文件 LocalizationStage.h 第 23 行定义.

ActionBuffer

typedef std::vector< Action > carla::traffic_manager::ActionBuffer = std::vector<Action>

在文件 LocalizationStage.h 第 24 行定义.

Actor

using carla::traffic_manager::Actor = carla::SharedPtr<cc::Actor>

在文件 LocalizationUtils.h 第 26 行定义.

ActorId

typedef carla::ActorId carla::traffic_manager::ActorId = carla::ActorId

在文件 AtomicActorSet.h 第 21 行定义.

ActorIdSet

typedef std::unordered_set< ActorId > carla::traffic_manager::ActorIdSet = std::unordered_set<ActorId>

在文件 LocalizationUtils.h 第 28 行定义.

ActorList

using carla::traffic_manager::ActorList = carla::SharedPtr<cc::ActorList>

在文件 ALSM.h 第 33 行定义.

ActorMap

using carla::traffic_manager::ActorMap = std::unordered_map<ActorId, ActorPtr>

在文件 ALSM.h 第 34 行定义.

ActorPtr

typedef carla::SharedPtr< carla::client::Actor > carla::traffic_manager::ActorPtr = carla::SharedPtr<cc::Actor>

在文件 AtomicActorSet.h 第 20 行定义.

Box

using carla::traffic_manager::Box = bg::model::box<Point3D>

在文件 InMemoryMap.h 第 52 行定义.

Buffer

typedef std::deque< SimpleWaypointPtr > carla::traffic_manager::Buffer = std::deque<std::shared_ptr<SimpleWaypoint>>

在文件 CollisionStage.h 第 44 行定义.

BufferMap

typedef std::unordered_map< carla::ActorId, Buffer > carla::traffic_manager::BufferMap = std::unordered_map<carla::ActorId, Buffer>

在文件 CollisionStage.h 第 45 行定义.

CollisionFrame

using carla::traffic_manager::CollisionFrame = std::vector<CollisionHazardData>

在文件 DataStructures.h 第 49 行定义.

CollisionLockMap

using carla::traffic_manager::CollisionLockMap = std::unordered_map<ActorId, CollisionLock>

在文件 CollisionStage.h 第 39 行定义.

ControlFrame

using carla::traffic_manager::ControlFrame = std::vector<carla::rpc::Command>

在文件 DataStructures.h 第 51 行定义.

GeodesicBoundaryMap

using carla::traffic_manager::GeodesicBoundaryMap = std::unordered_map<ActorId, LocationVector>

在文件 CollisionStage.h 第 47 行定义.

GeoGridId

typedef carla::road::JuncId carla::traffic_manager::GeoGridId = crd::JuncId

在文件 InMemoryMap.h 第 48 行定义.

GeometryComparisonMap

using carla::traffic_manager::GeometryComparisonMap = std::unordered_map<uint64_t, GeometryComparison>

在文件 CollisionStage.h 第 48 行定义.

IdleTimeMap

using carla::traffic_manager::IdleTimeMap = std::unordered_map<ActorId, double>

在文件 ALSM.h 第 35 行定义.

Junction

using carla::traffic_manager::Junction = carla::SharedPtr<carla::client::Junction>

在文件 DataStructures.h 第 30 行定义.

JunctionID

using carla::traffic_manager::JunctionID = carla::road::JuncId

在文件 DataStructures.h 第 29 行定义.

KinematicStateMap

using carla::traffic_manager::KinematicStateMap = std::unordered_map<ActorId, KinematicState>

在文件 SimulationState.h 第 26 行定义.

LaneChangeSWptMap

using carla::traffic_manager::LaneChangeSWptMap = std::unordered_map<ActorId, SimpleWaypointPtr>

在文件 LocalizationStage.h 第 21 行定义.

LocalizationFrame

using carla::traffic_manager::LocalizationFrame = std::vector<LocalizationData>

在文件 DataStructures.h 第 42 行定义.

LocalMapPtr

typedef std::shared_ptr< InMemoryMap > carla::traffic_manager::LocalMapPtr = std::shared_ptr<InMemoryMap>

在文件 ALSM.h 第 36 行定义.

LocationVector

using carla::traffic_manager::LocationVector = std::vector<cg::Location>

在文件 CollisionStage.h 第 46 行定义.

NodeList

using carla::traffic_manager::NodeList = std::vector<SimpleWaypointPtr>

在文件 InMemoryMap.h 第 47 行定义.

Path

typedef std::vector< cg::Location > carla::traffic_manager::Path = std::vector<cg::Location>

在文件 LocalizationStage.h 第 25 行定义.

Point2D

using carla::traffic_manager::Point2D = bg::model::point<double, 2, bg::cs::cartesian>

在文件 CollisionStage.cpp 第 12 行定义.

Point3D

using carla::traffic_manager::Point3D = bg::model::point<float, 3, bg::cs::cartesian>

在文件 InMemoryMap.h 第 51 行定义.

Polygon

using carla::traffic_manager::Polygon = bg::model::polygon<bg::model::d2::point_xy<double>>

在文件 CollisionStage.h 第 49 行定义.

RawNodeList

using carla::traffic_manager::RawNodeList = std::vector<WaypointPtr>

在文件 InMemoryMap.cpp 第 20 行定义.

Route

typedef std::vector< uint8_t > carla::traffic_manager::Route = std::vector<uint8_t>

在文件 LocalizationStage.h 第 26 行定义.

Rtree

using carla::traffic_manager::Rtree = bgi::rtree<SpatialTreeEntry, bgi::rstar<16>>

在文件 InMemoryMap.h 第 58 行定义.

SegmentId

using carla::traffic_manager::SegmentId = std::tuple<crd::RoadId, crd::LaneId, crd::SectionId>

在文件 InMemoryMap.h 第 55 行定义.

SegmentMap

using carla::traffic_manager::SegmentMap = std::map<SegmentId, std::vector<SimpleWaypointPtr>>

在文件 InMemoryMap.h 第 57 行定义.

SegmentTopology

using carla::traffic_manager::SegmentTopology = std::map<SegmentId, std::pair<std::vector<SegmentId>, std::vector<SegmentId>>>

在文件 InMemoryMap.h 第 56 行定义.

SimpleWaypointPtr

typedef std::shared_ptr< SimpleWaypoint > carla::traffic_manager::SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>

在文件 CachedSimpleWaypoint.cpp 第 12 行定义.

SpatialTreeEntry

using carla::traffic_manager::SpatialTreeEntry = std::pair<Point3D, SimpleWaypointPtr>

在文件 InMemoryMap.h 第 53 行定义.

StaticAttributeMap

using carla::traffic_manager::StaticAttributeMap = std::unordered_map<ActorId, StaticAttributes>

在文件 SimulationState.h 第 40 行定义.

TargetWPInfo

using carla::traffic_manager::TargetWPInfo = std::pair<SimpleWaypointPtr,uint64_t>

Method to return the wayPoints from the waypoint Buffer by using target point distance

在文件 LocalizationUtils.h 第 56 行定义.

TimeInstance

typedef chr::time_point< chr::system_clock, chr::nanoseconds > carla::traffic_manager::TimeInstance = chr::time_point<chr::system_clock, chr::nanoseconds>

在文件 DataStructures.h 第 34 行定义.

TimePoint

typedef chr::time_point< chr::system_clock, chr::nanoseconds > carla::traffic_manager::TimePoint = chr::time_point<chr::system_clock, chr::nanoseconds>

在文件 SnippetProfiler.h 第 18 行定义.

TLFrame

using carla::traffic_manager::TLFrame = std::vector<bool>

在文件 DataStructures.h 第 53 行定义.

TLGroup

using carla::traffic_manager::TLGroup = std::vector<carla::SharedPtr<carla::client::TrafficLight>>

在文件 TrafficManagerLocal.h 第 44 行定义.

TLMap

using carla::traffic_manager::TLMap = std::unordered_map<std::string, SharedPtr<client::Actor>>

在文件 MotionPlanStage.h 第 20 行定义.

TLS

typedef carla::rpc::TrafficLightState carla::traffic_manager::TLS = carla::rpc::TrafficLightState

在文件 CollisionStage.cpp 第 13 行定义.

TopologyList

using carla::traffic_manager::TopologyList = std::vector<std::pair<WaypointPtr, WaypointPtr>>

在文件 InMemoryMap.cpp 第 19 行定义.

TrafficLightStateMap

using carla::traffic_manager::TrafficLightStateMap = std::unordered_map<ActorId, TrafficLightState>

在文件 SimulationState.h 第 32 行定义.

WaypointPtr

typedef carla::SharedPtr< carla::client::Waypoint > carla::traffic_manager::WaypointPtr = carla::SharedPtr<cc::Waypoint>

在文件 InMemoryMap.h 第 45 行定义.

WorldMap

using carla::traffic_manager::WorldMap = carla::SharedPtr<const cc::Map>

在文件 InMemoryMap.h 第 49 行定义.

枚举类型说明

ActorType

enum carla::traffic_manager::ActorType

枚举值
Vehicle
Pedestrian
Any

在文件 SimulationState.h 第 11 行定义.

RoadOption

enum class carla::traffic_manager::RoadOption : uint8_t

strong

枚举值
Void
Left
Right
Straight
LaneFollow
ChangeLaneLeft
ChangeLaneRight
RoadEnd

在文件 SimpleWaypoint.h 第 25 行定义.

函数说明

DeviationCrossProduct()

float carla::traffic_manager::DeviationCrossProduct	(	const cg::Location &	reference_location,
		const cg::Vector3D &	heading_vector,
		const cg::Location &	target_location )

Returns the cross product (z component value) between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.

在文件 LocalizationUtils.cpp 第 16 行定义.

引用了 carla::geom::Vector3D::MakeSafeUnitVector(), carla::geom::Vector3D::x , 以及 carla::geom::Vector3D::y.

被这些函数引用 carla::traffic_manager::MotionPlanStage::Update().

函数调用图:

这是这个函数的调用关系图:

DeviationDotProduct()

float carla::traffic_manager::DeviationDotProduct	(	const cg::Location &	reference_location,
		const cg::Vector3D &	heading_vector,
		const cg::Location &	target_location )

Returns the dot product between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.

在文件 LocalizationUtils.cpp 第 25 行定义.

引用了 carla::geom::Vector3D::MakeSafeUnitVector(), carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

被这些函数引用 carla::traffic_manager::MotionPlanStage::Update() , 以及 carla::traffic_manager::LocalizationStage::Update().

函数调用图:

这是这个函数的调用关系图:

GetTargetWaypoint()

TargetWPInfo carla::traffic_manager::GetTargetWaypoint	(	const Buffer &	waypoint_buffer,
		const float &	target_point_distance )

Condition to determine forward or backward scanning of waypoint buffer.

在文件 LocalizationUtils.cpp 第 59 行定义.

被这些函数引用 carla::traffic_manager::TrafficLightStage::GetAffectedJunctionId(), carla::traffic_manager::CollisionStage::GetGeodesicBoundary(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::CollisionStage::Update() , 以及 carla::traffic_manager::LocalizationStage::Update().

这是这个函数的调用关系图:

PopWaypoint()

void carla::traffic_manager::PopWaypoint	(	ActorId	actor_id,
		TrackTraffic &	track_traffic,
		Buffer &	buffer,
		bool	front_or_back )

在文件 LocalizationUtils.cpp 第 46 行定义.

引用了 carla::traffic_manager::TrackTraffic::RemovePassingVehicle().

被这些函数引用 carla::traffic_manager::LocalizationStage::ImportPath(), carla::traffic_manager::LocalizationStage::ImportRoute() , 以及 carla::traffic_manager::LocalizationStage::Update().

函数调用图:

这是这个函数的调用关系图:

PushWaypoint()

void carla::traffic_manager::PushWaypoint	(	ActorId	actor_id,
		TrackTraffic &	track_traffic,
		Buffer &	buffer,
		SimpleWaypointPtr &	waypoint )

在文件 LocalizationUtils.cpp 第 38 行定义.

引用了 carla::traffic_manager::TrackTraffic::UpdatePassingVehicle().

被这些函数引用 carla::traffic_manager::LocalizationStage::ExtendAndFindSafeSpace(), carla::traffic_manager::LocalizationStage::ImportPath(), carla::traffic_manager::LocalizationStage::ImportRoute() , 以及 carla::traffic_manager::LocalizationStage::Update().

函数调用图:

这是这个函数的调用关系图: