client/detail/ActorState.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/NonCopyable.h"
#include "carla/client/World.h"
#include "carla/client/ActorAttribute.h"
#include "carla/client/detail/EpisodeProxy.h"
#include "carla/rpc/Actor.h"
 
namespace carla {
namespace client {
namespace detail {
 
  class ActorFactory;
 
  /// 参与者的内部状态
  class ActorState : private MovableNonCopyable {
  public:
 
    ActorId GetId() const {
      return _description.id;
    }
 
    const std::string &GetTypeId() const {
      return _description.description.id;
    }
 
    const std::string &GetDisplayId() const {
      return _display_id;
    }
 
    ActorId GetParentId() const {
      return _description.parent_id;
    }
 
    const std::vector<uint8_t> &GetSemanticTags() const {
      return _description.semantic_tags;
    }
 
    SharedPtr<Actor> GetParent() const;
 
    World GetWorld() const {
      return World{_episode};
    }
 
    const std::vector<ActorAttributeValue> &GetAttributes() const
    {
      return _attributes;
    }
 
  protected:
 
    explicit ActorState(rpc::Actor description, EpisodeProxy episode);
 
    const geom::BoundingBox &GetBoundingBox() const {
      return _description.bounding_box;
    }
 
    const rpc::Actor &GetActorDescription() const {
      return _description;
    }
 
    EpisodeProxy &GetEpisode() {
      return _episode;
    }
 
    const EpisodeProxy &GetEpisode() const {
      return _episode;
    }
 
  private:
 
    friend class Simulator;
 
    rpc::Actor _description;
 
    EpisodeProxy _episode;
 
    std::string _display_id;
 
    std::vector<ActorAttributeValue> _attributes;
  };
 
} // namespace detail
 
  /// 用于初始化 Actor 类。只有 ActorFactory 可以创建此对象，因此只有 ActorFactory 可以创建 Actor。
  class ActorInitializer : public detail::ActorState {
  public:
    ActorInitializer(ActorInitializer &&) = default;
  private:
    friend class detail::ActorFactory;
    using detail::ActorState::ActorState;
  };
 
} // namespace client
} // namespace carla