The RSS Sensor class implementing the carla::client::Sensor interface This class is a proxy to the RssCheck class 更多...

#include <RssSensor.h>

类 carla::client::RssSensor 继承关系图:

carla::client::RssSensor 的协作图:

Public 类型
using	ActorConstellationCallbackFunctionType

Public 类型继承自 carla::client::Sensor
using	CallbackFunctionType = std::function<void(SharedPtr<sensor::SensorData>)>

Public 成员函数
void	AppendRoutingTarget (const ::carla::geom::Transform &routing_target)
	appends a routing target to the current routing target list (

void	DropRoute ()
	drop the current route (

const ::ad::rss::world::RssDynamics &	GetEgoVehicleDynamics () const

const ::ad::rss::world::RssDynamics &	GetOtherVehicleDynamics () const

const ::ad::rss::world::RssDynamics &	GetPedestrianDynamics () const

const ::carla::rss::RoadBoundariesMode &	GetRoadBoundariesMode () const

const std::vector<::carla::geom::Transform >	GetRoutingTargets () const

bool	IsListening () const override
	Return whether this Sensor instance is currently listening to the associated sensor in the simulator.

void	Listen (CallbackFunctionType callback) override
	Register a callback to be executed each time a new measurement is received.

void	RegisterActorConstellationCallback (ActorConstellationCallbackFunctionType callback)
	Register a callback to be executed for each actor within each measurement to be processed to decide on the operation of the RSS sensor in respect to the ego vehicle to actor constellation

void	ResetRoutingTargets ()
	resets the current routing target (

	RssSensor (ActorInitializer init)
	constructor

void	SetEgoVehicleDynamics (const ::ad::rss::world::RssDynamics &ego_dynamics)
	sets the ego vehicle dynamics to be used by the ego vehicle (

void	SetLogLevel (const uint8_t &log_level)
	sets the current log level

void	SetMapLogLevel (const uint8_t &map_log_level)
	sets the current map log level

void	SetOtherVehicleDynamics (const ::ad::rss::world::RssDynamics &other_vehicle_dynamics)
	sets the ego vehicle dynamics to be used by other vehicles (

void	SetPedestrianDynamics (const ::ad::rss::world::RssDynamics &pedestrian_dynamics)
	sets the ego vehicle dynamics to be used by pedestrians (

void	SetRoadBoundariesMode (const ::carla::rss::RoadBoundariesMode &road_boundaries_mode)
	sets the current mode for respecting the road boundaries (

void	Stop () override
	Stop listening for new measurements.

	~RssSensor ()
	destructor

Public 成员函数继承自 carla::client::Sensor
	Actor (ActorInitializer init)

Public 成员函数继承自 carla::client::Actor
	Actor (ActorInitializer init)

void	AddAngularImpulse (const geom::Vector3D &vector)
	Add angular impulse to the actor.

void	AddForce (const geom::Vector3D &force)
	Add force to the actor at its center of mass.

void	AddForce (const geom::Vector3D &force, const geom::Vector3D &location)
	Add force to the actor at certain location.

void	AddImpulse (const geom::Vector3D &impulse, const geom::Vector3D &location)
	Add impulse to the actor at certain location.

void	AddImpulse (const geom::Vector3D &vector)
	Add impulse to the actor at its center of mass.

void	AddTorque (const geom::Vector3D &vector)
	Add a torque to the actor.

virtual bool	Destroy ()
	Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed.

void	DisableConstantVelocity ()
	Disable the constant velocity mode

void	EnableConstantVelocity (const geom::Vector3D &vector)
	Enable a constant velocity mode

geom::Vector3D	GetAcceleration () const
	Return the current 3D acceleration of the actor.

rpc::ActorState	GetActorState () const

geom::Vector3D	GetAngularVelocity () const
	Return the current 3D angular velocity of the actor.

std::vector< std::string >	GetBoneNames () const

std::vector< geom::Transform >	GetBoneRelativeTransforms () const

std::vector< geom::Transform >	GetBoneWorldTransforms () const

std::vector< std::string >	GetComponentNames () const

geom::Transform	GetComponentRelativeTransform (const std::string componentName) const

geom::Transform	GetComponentWorldTransform (const std::string componentName) const

geom::Location	GetLocation () const
	Return the current location of the actor.

std::vector< std::string >	GetSocketNames () const

std::vector< geom::Transform >	GetSocketRelativeTransforms () const

std::vector< geom::Transform >	GetSocketWorldTransforms () const

geom::Transform	GetTransform () const
	Return the current transform of the actor.

geom::Vector3D	GetVelocity () const
	Return the current 3D velocity of the actor.

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

const auto &	Serialize () const

void	SetActorDead ()
	Set actor as dead and starts his life span

void	SetCollisions (bool enabled=true)
	Enable or disable collisions on this actor.

void	SetEnableGravity (bool enabled=true)
	Enable or disable gravity on this actor.

void	SetLocation (const geom::Location &location)
	Teleport the actor to location.

void	SetSimulatePhysics (bool enabled=true)
	Enable or disable physics simulation on this actor.

void	SetTargetAngularVelocity (const geom::Vector3D &vector)
	Set the angular velocity of the actor before applying physics.

void	SetTargetVelocity (const geom::Vector3D &vector)
	Set the actor velocity before applying physics.

void	SetTransform (const geom::Transform &transform)
	Teleport and rotate the actor to transform.

virtual	~Actor ()=default

Public 成员函数继承自 carla::client::detail::ActorState
const std::vector< ActorAttributeValue > &	GetAttributes () const

const std::string &	GetDisplayId () const

ActorId	GetId () const

SharedPtr< Actor >	GetParent () const

ActorId	GetParentId () const

const std::vector< uint8_t > &	GetSemanticTags () const

const std::string &	GetTypeId () const

World	GetWorld () const

Private 成员函数
void	TickRssSensor (const client::Timestamp &timestamp, CallbackFunctionType callback)
	the acutal sensor tick callback function

void	TickRssSensorThreadLocked (const client::Timestamp &timestamp, SharedPtr< carla::client::ActorList > actors, CallbackFunctionType callback)

Private 属性
bool	_drop_route
	reqired to store DropRoute() requests until next sensor tick

std::size_t	_last_processed_frame
	last processed frame

std::size_t	_on_tick_register_id
	the id got when registering for the on tick event

std::mutex	_processing_lock
	the mutex to protect the actual RSS processing and in case it takes too long to process ever frame

ActorConstellationCallbackFunctionType	_rss_actor_constellation_callback

std::shared_ptr<::carla::rss::RssCheck >	_rss_check

std::list< double >	_rss_check_timings
	some debug timings

std::future< void >	_tick_future
	the future for the async ticking thread

静态 Private 属性
static std::atomic_uint	_global_map_initialization_counter_ {0u}

额外继承的成员函数
Protected 成员函数继承自 carla::client::detail::ActorState
	ActorState (rpc::Actor description, EpisodeProxy episode)

const rpc::Actor &	GetActorDescription () const

const geom::BoundingBox &	GetBoundingBox () const

EpisodeProxy &	GetEpisode ()

const EpisodeProxy &	GetEpisode () const

详细描述

The RSS Sensor class implementing the carla::client::Sensor interface This class is a proxy to the RssCheck class

在文件 LibCarla/source/carla/rss/RssSensor.h 第 45 行定义.

成员类型定义说明

◆ ActorConstellationCallbackFunctionType

using carla::client::RssSensor::ActorConstellationCallbackFunctionType

初始值:

std::function<::carla::rss::ActorConstellationResult(carla::SharedPtr<::carla::rss::ActorConstellationData>)>

carla::SharedPtr

boost::shared_ptr< T > SharedPtr

Use this SharedPtr (boost::shared_ptr) to keep compatibility with boost::python, but it would be nice...

Definition Memory.h:20

carla::rss::ActorConstellationResult

Struct defining the configuration for RSS processing of a given actor

Definition RssCheck.h:96

在文件 LibCarla/source/carla/rss/RssSensor.h 第 49 行定义.

构造及析构函数说明

◆ RssSensor()

carla::client::RssSensor::RssSensor ( ActorInitializer init )

explicit

constructor

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 27 行定义.

◆ ~RssSensor()

carla::client::RssSensor::~RssSensor ( )

destructor

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 29 行定义.

引用了 IsListening() , 以及 Stop().

函数调用图:

成员函数说明

◆ AppendRoutingTarget()

void carla::client::RssSensor::AppendRoutingTarget ( const ::carla::geom::Transform & routing_target )

appends a routing target to the current routing target list (

参见: also RssCheck::AppendRoutingTarget())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 263 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ DropRoute()

void carla::client::RssSensor::DropRoute ( )

drop the current route (

参见: also RssCheck::DropRoute())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 290 行定义.

引用了 _drop_route.

◆ GetEgoVehicleDynamics()

const::ad::rss::world::RssDynamics & carla::client::RssSensor::GetEgoVehicleDynamics ( ) const

返回: the currently used dynamics of the ego vehicle (

参见: also RssCheck::GetEgoVehicleDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 157 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultVehicleDynamics(), carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ GetOtherVehicleDynamics()

const::ad::rss::world::RssDynamics & carla::client::RssSensor::GetOtherVehicleDynamics ( ) const

返回: the currently used dynamics of other vehicles (

参见: also RssCheck::GetOtherVehicleDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 186 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultVehicleDynamics(), carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ GetPedestrianDynamics()

const::ad::rss::world::RssDynamics & carla::client::RssSensor::GetPedestrianDynamics ( ) const

返回: the currently used dynamics of pedestrians (

参见: also RssCheck::GetPedestrianDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 215 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultPedestrianDynamics(), carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ GetRoadBoundariesMode()

const::carla::rss::RoadBoundariesMode & carla::client::RssSensor::GetRoadBoundariesMode ( ) const

返回: the current mode for respecting the road boundaries (

参见: also RssCheck::GetRoadBoundariesMode())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 244 行定义.

引用了 _rss_check, carla::rss::RssCheck::GetDefaultRoadBoundariesMode(), carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ GetRoutingTargets()

const std::vector<::carla::geom::Transform > carla::client::RssSensor::GetRoutingTargets ( ) const

返回: the current routing targets (

参见: also RssCheck::GetRoutingTargets())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 272 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ IsListening()

bool carla::client::RssSensor::IsListening ( ) const

inlineoverridevirtual

Return whether this Sensor instance is currently listening to the associated sensor in the simulator.

实现了 carla::client::Sensor.

在文件 LibCarla/source/carla/rss/RssSensor.h 第 77 行定义.

引用了 _on_tick_register_id.

被这些函数引用 Listen(), RegisterActorConstellationCallback(), Stop() , 以及 ~RssSensor().

这是这个函数的调用关系图:

◆ Listen()

void carla::client::RssSensor::Listen ( CallbackFunctionType callback )

overridevirtual

Register a callback to be executed each time a new measurement is received.

警告: Calling this function on a sensor that is already listening steals the data stream from the previously set callback. Note that several instances of Sensor (even in different processes) may point to the same sensor in the simulator.

实现了 carla::client::Sensor.

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 46 行定义.

引用了 _global_map_initialization_counter_, _last_processed_frame, _on_tick_register_id, _rss_actor_constellation_callback, _rss_check, DEBUG_ASSERT, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::client::World::GetMap(), carla::client::detail::ActorState::GetParent(), carla::client::detail::ActorState::GetWorld(), IsListening(), carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug(), carla::log_error() , 以及 carla::throw_exception().

函数调用图:

◆ RegisterActorConstellationCallback()

void carla::client::RssSensor::RegisterActorConstellationCallback ( ActorConstellationCallbackFunctionType callback )

Register a callback to be executed for each actor within each measurement to be processed to decide on the operation of the RSS sensor in respect to the ego vehicle to actor constellation

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 36 行定义.

引用了 _rss_actor_constellation_callback, carla::client::detail::ActorState::GetDisplayId(), IsListening() , 以及 carla::log_error().

函数调用图:

◆ ResetRoutingTargets()

void carla::client::RssSensor::ResetRoutingTargets ( )

resets the current routing target (

参见: also RssCheck::ResetRoutingTargets())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 281 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetEgoVehicleDynamics()

void carla::client::RssSensor::SetEgoVehicleDynamics ( const ::ad::rss::world::RssDynamics & ego_dynamics )

sets the ego vehicle dynamics to be used by the ego vehicle (

参见: also RssCheck::SetEgoVehicleDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 172 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetLogLevel()

void carla::client::RssSensor::SetLogLevel ( const uint8_t & log_level )

sets the current log level

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 135 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetMapLogLevel()

void carla::client::RssSensor::SetMapLogLevel ( const uint8_t & map_log_level )

sets the current map log level

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 146 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetOtherVehicleDynamics()

void carla::client::RssSensor::SetOtherVehicleDynamics ( const ::ad::rss::world::RssDynamics & other_vehicle_dynamics )

sets the ego vehicle dynamics to be used by other vehicles (

参见: also RssCheck::SetOtherVehicleDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 201 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetPedestrianDynamics()

void carla::client::RssSensor::SetPedestrianDynamics ( const ::ad::rss::world::RssDynamics & pedestrian_dynamics )

sets the ego vehicle dynamics to be used by pedestrians (

参见: also RssCheck::SetPedestrianDynamics())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 230 行定义.

引用了 _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ SetRoadBoundariesMode()

void carla::client::RssSensor::SetRoadBoundariesMode ( const ::carla::rss::RoadBoundariesMode & road_boundaries_mode )

sets the current mode for respecting the road boundaries (

参见: also RssCheck::SetRoadBoundariesMode())

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 254 行定义.

引用了 _rss_check, carla::client::detail::ActorState::GetDisplayId() , 以及 carla::log_error().

函数调用图:

◆ Stop()

void carla::client::RssSensor::Stop ( )

overridevirtual

Stop listening for new measurements.

Be aware: GIL has to be unlocked to be able to wait for callbacks not active.

实现了 carla::client::Sensor.

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 105 行定义.

引用了 _global_map_initialization_counter_, _on_tick_register_id, _processing_lock, _rss_check, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), IsListening(), carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_debug() , 以及 carla::log_error().

被这些函数引用 ~RssSensor().

函数调用图:

这是这个函数的调用关系图:

◆ TickRssSensor()

void carla::client::RssSensor::TickRssSensor	(	const client::Timestamp &	timestamp,
		CallbackFunctionType	callback )

private

the acutal sensor tick callback function

在文件 LibCarla/source/carla/rss/RssSensor.cpp 第 296 行定义.

引用了 _last_processed_frame, _processing_lock, _rss_check, _tick_future, carla::client::Timestamp::frame, carla::client::World::GetActors(), carla::client::World::GetSettings(), carla::client::detail::ActorState::GetWorld() , 以及 TickRssSensorThreadLocked().

函数调用图:

◆ TickRssSensorThreadLocked()

void carla::client::RssSensor::TickRssSensorThreadLocked	(	const client::Timestamp &	timestamp,
		SharedPtr< carla::client::ActorList >	actors,
		CallbackFunctionType	callback )