#include <Vehicle.h>

类 carla::client::Vehicle 继承关系图:

carla::client::Vehicle 的协作图:

Public 类型
using	AckermannControl = rpc::VehicleAckermannControl

using	Control = rpc::VehicleControl

using	LightState = rpc::VehicleLightState::LightState

using	PhysicsControl = rpc::VehiclePhysicsControl

using	TelemetryData = rpc::VehicleTelemetryData

using	TM = traffic_manager::TrafficManager

using	VehicleDoor = rpc::VehicleDoor

using	WheelLocation = carla::rpc::VehicleWheelLocation

Public 成员函数
void	ApplyAckermannControl (const AckermannControl &control)
	Apply control to this vehicle.

void	ApplyAckermannControllerSettings (const rpc::AckermannControllerSettings &settings)
	Apply Ackermann control settings to this vehicle

void	ApplyControl (const Control &control)
	Apply control to this vehicle.

void	ApplyPhysicsControl (const PhysicsControl &physics_control)
	Apply physics control to this vehicle.

void	CloseDoor (const VehicleDoor door_idx)
	Close a door in this vehicle

void	EnableCarSim (std::string simfile_path)
	Enables CarSim simulation if it is availiable

void	EnableChronoPhysics (uint64_t MaxSubsteps, float MaxSubstepDeltaTime, std::string VehicleJSON="", std::string PowertrainJSON="", std::string TireJSON="", std::string BaseJSONPath="")

rpc::AckermannControllerSettings	GetAckermannControllerSettings () const
	Return the last Ackermann controller settings applied to this vehicle.

Control	GetControl () const
	Return the control last applied to this vehicle.

rpc::VehicleFailureState	GetFailureState () const
	Returns the failure state of the vehicle

LightState	GetLightState () const
	Return the current open lights (LightState) of this vehicle.

PhysicsControl	GetPhysicsControl () const
	Return the physics control last applied to this vehicle.

float	GetSpeedLimit () const
	Return the speed limit currently affecting this vehicle.

TelemetryData	GetTelemetryData () const
	Return the telemetry data for this vehicle.

SharedPtr< TrafficLight >	GetTrafficLight () const
	Retrieve the traffic light actor currently affecting this vehicle.

rpc::TrafficLightState	GetTrafficLightState () const
	Return the state of the traffic light currently affecting this vehicle.

float	GetWheelSteerAngle (WheelLocation wheel_location)
	Return a Rotation from a wheel of the vehicle

bool	IsAtTrafficLight ()
	Return whether a traffic light is affecting this vehicle.

void	OpenDoor (const VehicleDoor door_idx)
	Open a door in this vehicle

void	RestorePhysXPhysics ()

void	SetAutopilot (bool enabled=true, uint16_t tm_port=TM_DEFAULT_PORT)
	Switch on/off this vehicle's autopilot.

void	SetLightState (const LightState &light_state)
	Sets a LightState to this vehicle.

void	SetWheelSteerDirection (WheelLocation wheel_location, float angle_in_deg)
	Sets a Rotation to a wheel of the vehicle (affects the bone of the car skeleton, not the physics)

void	ShowDebugTelemetry (bool enabled=true)
	Switch on/off this vehicle's autopilot.

void	UseCarSimRoad (bool enabled)
	Enables the use of CarSim internal road definition instead of unreal's

	Vehicle (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 属性
Control	_control

const bool	_is_control_sticky

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

在文件 Vehicle.h 第 33 行定义.

成员类型定义说明

◆ AckermannControl

using carla::client::Vehicle::AckermannControl = rpc::VehicleAckermannControl

在文件 Vehicle.h 第 37 行定义.

◆ Control

using carla::client::Vehicle::Control = rpc::VehicleControl

在文件 Vehicle.h 第 36 行定义.

◆ LightState

using carla::client::Vehicle::LightState = rpc::VehicleLightState::LightState

在文件 Vehicle.h 第 40 行定义.

◆ PhysicsControl

using carla::client::Vehicle::PhysicsControl = rpc::VehiclePhysicsControl

在文件 Vehicle.h 第 38 行定义.

◆ TelemetryData

using carla::client::Vehicle::TelemetryData = rpc::VehicleTelemetryData

在文件 Vehicle.h 第 39 行定义.

◆ TM

using carla::client::Vehicle::TM = traffic_manager::TrafficManager

在文件 Vehicle.h 第 41 行定义.

◆ VehicleDoor

using carla::client::Vehicle::VehicleDoor = rpc::VehicleDoor

在文件 Vehicle.h 第 42 行定义.

◆ WheelLocation

using carla::client::Vehicle::WheelLocation = carla::rpc::VehicleWheelLocation

在文件 Vehicle.h 第 43 行定义.

构造及析构函数说明

◆ Vehicle()

carla::client::Vehicle::Vehicle ( ActorInitializer init )

explicit

在文件 Vehicle.cpp 第 34 行定义.

成员函数说明

◆ ApplyAckermannControl()

void carla::client::Vehicle::ApplyAckermannControl ( const AckermannControl & control )

Apply control to this vehicle.

在文件 Vehicle.cpp 第 62 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ ApplyAckermannControllerSettings()

void carla::client::Vehicle::ApplyAckermannControllerSettings ( const rpc::AckermannControllerSettings & settings )

Apply Ackermann control settings to this vehicle

在文件 Vehicle.cpp 第 70 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ ApplyControl()

void carla::client::Vehicle::ApplyControl ( const Control & control )

Apply control to this vehicle.

在文件 Vehicle.cpp 第 55 行定义.

引用了 _control, _is_control_sticky, carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ ApplyPhysicsControl()

void carla::client::Vehicle::ApplyPhysicsControl ( const PhysicsControl & physics_control )

Apply physics control to this vehicle.

在文件 Vehicle.cpp 第 74 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ CloseDoor()

void carla::client::Vehicle::CloseDoor ( const VehicleDoor door_idx )

Close a door in this vehicle

在文件 Vehicle.cpp 第 82 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ EnableCarSim()

void carla::client::Vehicle::EnableCarSim ( std::string simfile_path )

Enables CarSim simulation if it is availiable

在文件 Vehicle.cpp 第 127 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ EnableChronoPhysics()

void carla::client::Vehicle::EnableChronoPhysics	(	uint64_t	MaxSubsteps,
		float	MaxSubstepDeltaTime,
		std::string	VehicleJSON = "",
		std::string	PowertrainJSON = "",
		std::string	TireJSON = "",
		std::string	BaseJSONPath = "" )

在文件 Vehicle.cpp 第 135 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetAckermannControllerSettings()

rpc::AckermannControllerSettings carla::client::Vehicle::GetAckermannControllerSettings ( ) const

Return the last Ackermann controller settings applied to this vehicle.

警告: This function does call the simulator.

在文件 Vehicle.cpp 第 66 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetControl()

Vehicle::Control carla::client::Vehicle::GetControl ( ) const

Return the control last applied to this vehicle.

注解: This function does not call the simulator, it returns the data received in the last tick.

在文件 Vehicle.cpp 第 98 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

被这些函数引用 carla::rss::RssCheck::GetSteeringAngle().

函数调用图:

这是这个函数的调用关系图:

◆ GetFailureState()

rpc::VehicleFailureState carla::client::Vehicle::GetFailureState ( ) const

Returns the failure state of the vehicle

在文件 Vehicle.cpp 第 155 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetLightState()

Vehicle::LightState carla::client::Vehicle::GetLightState ( ) const

Return the current open lights (LightState) of this vehicle.

注解: This function does not call the simulator, it returns the data received in the last tick.

在文件 Vehicle.cpp 第 106 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetPhysicsControl()

Vehicle::PhysicsControl carla::client::Vehicle::GetPhysicsControl ( ) const

Return the physics control last applied to this vehicle.

警告: This function does call the simulator.

在文件 Vehicle.cpp 第 102 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetSpeedLimit()

float carla::client::Vehicle::GetSpeedLimit ( ) const

Return the speed limit currently affecting this vehicle.

注解: This function does not call the simulator, it returns the data received in the last tick.

在文件 Vehicle.cpp 第 110 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetTelemetryData()

Vehicle::TelemetryData carla::client::Vehicle::GetTelemetryData ( ) const

Return the telemetry data for this vehicle.

警告: This function does call the simulator.

在文件 Vehicle.cpp 第 47 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetTrafficLight()

SharedPtr< TrafficLight > carla::client::Vehicle::GetTrafficLight ( ) const

Retrieve the traffic light actor currently affecting this vehicle.

在文件 Vehicle.cpp 第 122 行定义.

引用了 carla::client::detail::ActorState::GetEpisode(), carla::client::detail::ActorState::GetWorld() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetTrafficLightState()

rpc::TrafficLightState carla::client::Vehicle::GetTrafficLightState ( ) const

Return the state of the traffic light currently affecting this vehicle.

返回: Green If no traffic light is affecting the vehicle.

注解: This function does not call the simulator, it returns the data received in the last tick.

在文件 Vehicle.cpp 第 114 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ GetWheelSteerAngle()

float carla::client::Vehicle::GetWheelSteerAngle ( WheelLocation wheel_location )

Return a Rotation from a wheel of the vehicle

注解: The function returns the rotation of the vehicle based on the it's physics

在文件 Vehicle.cpp 第 94 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ IsAtTrafficLight()

bool carla::client::Vehicle::IsAtTrafficLight ( )

Return whether a traffic light is affecting this vehicle.

注解: This function does not call the simulator, it returns the data received in the last tick.

在文件 Vehicle.cpp 第 118 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ OpenDoor()

void carla::client::Vehicle::OpenDoor ( const VehicleDoor door_idx )

Open a door in this vehicle

在文件 Vehicle.cpp 第 78 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ RestorePhysXPhysics()

void carla::client::Vehicle::RestorePhysXPhysics ( )

在文件 Vehicle.cpp 第 151 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ SetAutopilot()

void carla::client::Vehicle::SetAutopilot	(	bool	enabled = true,
		uint16_t	tm_port = TM_DEFAULT_PORT )

Switch on/off this vehicle's autopilot.

在文件 Vehicle.cpp 第 38 行定义.

引用了 carla::client::detail::ActorState::GetEpisode(), carla::traffic_manager::TrafficManager::RegisterVehicles() , 以及 carla::traffic_manager::TrafficManager::UnregisterVehicles().

函数调用图:

◆ SetLightState()

void carla::client::Vehicle::SetLightState ( const LightState & light_state )

Sets a LightState to this vehicle.

在文件 Vehicle.cpp 第 86 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ SetWheelSteerDirection()

void carla::client::Vehicle::SetWheelSteerDirection	(	WheelLocation	wheel_location,
		float	angle_in_deg )

Sets a Rotation to a wheel of the vehicle (affects the bone of the car skeleton, not the physics)

在文件 Vehicle.cpp 第 90 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ ShowDebugTelemetry()

void carla::client::Vehicle::ShowDebugTelemetry ( bool enabled = true )

Switch on/off this vehicle's autopilot.

在文件 Vehicle.cpp 第 51 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

◆ UseCarSimRoad()

void carla::client::Vehicle::UseCarSimRoad ( bool enabled )

Enables the use of CarSim internal road definition instead of unreal's

在文件 Vehicle.cpp 第 131 行定义.

引用了 carla::client::detail::ActorState::GetEpisode() , 以及 carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

函数调用图:

类成员变量说明

◆ _control

Control carla::client::Vehicle::_control

private

在文件 Vehicle.h 第 156 行定义.

被这些函数引用 ApplyControl().

◆ _is_control_sticky

const bool carla::client::Vehicle::_is_control_sticky

private

在文件 Vehicle.h 第 154 行定义.

被这些函数引用 ApplyControl().

该类的文档由以下文件生成:

Public 类型

Public 成员函数

Private 属性

额外继承的成员函数

详细描述

成员类型定义说明

◆ AckermannControl

◆ Control

◆ LightState

◆ PhysicsControl

◆ TelemetryData

◆ TM

◆ VehicleDoor

◆ WheelLocation

构造及析构函数说明

◆ Vehicle()

成员函数说明

◆ ApplyAckermannControl()

◆ ApplyAckermannControllerSettings()

◆ ApplyControl()

◆ ApplyPhysicsControl()

◆ CloseDoor()

◆ EnableCarSim()

◆ EnableChronoPhysics()

◆ GetAckermannControllerSettings()

◆ GetControl()

◆ GetFailureState()

◆ GetLightState()

◆ GetPhysicsControl()

◆ GetSpeedLimit()

◆ GetTelemetryData()

◆ GetTrafficLight()

◆ GetTrafficLightState()

◆ GetWheelSteerAngle()

◆ IsAtTrafficLight()

◆ OpenDoor()

◆ RestorePhysXPhysics()

◆ SetAutopilot()

◆ SetLightState()

◆ SetWheelSteerDirection()

◆ ShowDebugTelemetry()

◆ UseCarSimRoad()

类成员变量说明

◆ _control

◆ _is_control_sticky