carla::rss::RssCheck类 参考

class implementing the actual RSS checks based on CARLA world description 更多...

#include <RssCheck.h>

carla::rss::RssCheck 的协作图:

类
struct	CarlaRssState
	struct collecting the rss states required 更多...
class	RssObjectChecker

Public 类型
using	ActorConstellationCallbackFunctionType

Public 成员函数
void	AppendRoutingTarget (const ::carla::geom::Transform &routing_target)
	appends a routing target to the current routing target list (
bool	CheckObjects (carla::client::Timestamp const &timestamp, carla::SharedPtr< carla::client::ActorList > const &actors, carla::SharedPtr< carla::client::Actor > const &carla_ego_actor, ::ad::rss::state::ProperResponse &output_response, ::ad::rss::state::RssStateSnapshot &output_rss_state_snapshot, ::ad::rss::situation::SituationSnapshot &output_situation_snapshot, ::ad::rss::world::WorldModel &output_world_model, EgoDynamicsOnRoute &output_rss_ego_dynamics_on_route)
	main function to trigger the RSS check at a certain point in time
void	DropRoute ()
	drop the current route
const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackEgoVehicleDynamics () const
const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackOtherVehicleDynamics () const
const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackPedestrianDynamics () const
std::shared_ptr< spdlog::logger >	GetLogger ()
	get the logger of this
const ::carla::rss::RoadBoundariesMode &	GetRoadBoundariesMode () const
const std::vector<::carla::geom::Transform >	GetRoutingTargets () const
void	ResetRoutingTargets ()
	resets the current routing targets (
	RssCheck (float max_steering_angle)
	default constructor with default internal default actor constellation callback
	RssCheck (float max_steering_angle, ActorConstellationCallbackFunctionType rss_actor_constellation_callback, carla::SharedPtr< carla::client::Actor > const &carla_ego_actor)
	constructor with actor constellation callback
void	SetDefaultActorConstellationCallbackEgoVehicleDynamics (const ::ad::rss::world::RssDynamics &ego_vehicle_dynamics)
	sets the vehicle dynamics to be used for the ego vehicle
void	SetDefaultActorConstellationCallbackOtherVehicleDynamics (const ::ad::rss::world::RssDynamics &other_vehicle_dynamics)
	sets the vehicle dynamics to be used for other vehicles
void	SetDefaultActorConstellationCallbackPedestrianDynamics (const ::ad::rss::world::RssDynamics &pedestrian_dynamics)
	sets the dynamics to be used for pedestrians
void	SetLogLevel (const spdlog::level::level_enum &log_level)
	sets the current log level
void	SetMapLogLevel (const spdlog::level::level_enum &map_log_level)
	sets the current log level
void	SetRoadBoundariesMode (const ::carla::rss::RoadBoundariesMode &road_boundaries_mode)
	sets the current mode for respecting the road boundaries (
	~RssCheck ()
	destructor

静态 Public 成员函数
::ad::rss::world::RssDynamics	GetDefaultPedestrianDynamics ()
static RoadBoundariesMode	GetDefaultRoadBoundariesMode ()
::ad::rss::world::RssDynamics	GetDefaultVehicleDynamics ()

Private 成员函数
void	AnalyseCheckResults (CarlaRssState &carla_rss_state) const
	Analyse the RSS check results
EgoDynamicsOnRoute	CalculateEgoDynamicsOnRoute (carla::client::Timestamp const &current_timestamp, double const &time_since_epoch_check_start_ms, carla::client::Vehicle const &carla_vehicle, ::ad::map::match::Object match_object, ::ad::map::route::FullRoute const &route, ::ad::rss::world::RssDynamics const &default_ego_vehicle_dynamics, EgoDynamicsOnRoute const &last_dynamics) const
	calculate ego vehicle dynamics on the route
void	CreateWorldModel (carla::client::Timestamp const &timestamp, carla::client::ActorList const &actors, carla::client::Vehicle const &carla_ego_vehicle, CarlaRssState &carla_rss_state) const
	Create the RSS world model
::ad::map::landmark::LandmarkIdSet	GetGreenTrafficLightsOnRoute (std::vector< SharedPtr< carla::client::TrafficLight > > const &traffic_lights, ::ad::map::route::FullRoute const &route) const
	collect the green traffic lights on the current route
::ad::physics::AngularVelocity	GetHeadingChange (carla::client::Actor const &actor) const
	calculate the heading change from the actor
::ad::map::match::Object	GetMatchObject (carla::SharedPtr< carla::client::Actor > const &actor, ::ad::physics::Distance const &sampling_distance) const
	calculate the map matched object from the actor
::ad::physics::Speed	GetSpeed (carla::client::Actor const &actor) const
	calculate the speed from the actor
::ad::physics::Angle	GetSteeringAngle (carla::client::Vehicle const &actor) const
	calculate the steering angle from the actor
bool	PerformCheck (CarlaRssState &carla_rss_state) const
	Perform the actual RSS check
void	UpdateDefaultRssDynamics (CarlaRssState &carla_rss_state)
void	UpdateRoute (CarlaRssState &carla_rss_state)
	update the desired ego vehicle route

Private 属性
ActorConstellationCallbackFunctionType	_actor_constellation_callback
	the current actor constellation callback
CarlaRssState	_carla_rss_state
	the current state of the ego vehicle
::ad::rss::world::RssDynamics	_default_actor_constellation_callback_ego_vehicle_dynamics
	current used vehicle dynamics for ego vehicle by the default actor constellation callback
::ad::rss::world::RssDynamics	_default_actor_constellation_callback_other_vehicle_dynamics
	current used vehicle dynamics for other vehicle by the default actor constellation callback
::ad::rss::world::RssDynamics	_default_actor_constellation_callback_pedestrian_dynamics
	current used vehicle dynamics for pedestrians by the default actor constellation callback
std::shared_ptr< spdlog::logger >	_logger
	standard logger
float	_maximum_steering_angle
	maximum steering angle
::carla::rss::RoadBoundariesMode	_road_boundaries_mode
	current used road boundaries mode
std::vector<::ad::map::point::ENUPoint >	_routing_targets
	current used routing targets
std::vector<::ad::map::point::ENUPoint >	_routing_targets_to_append
	routing targets to be appended next run
std::shared_ptr< spdlog::logger >	_timing_logger
	logger for timing log messages

友元
class	RssObjectChecker

详细描述

class implementing the actual RSS checks based on CARLA world description

在文件 RssCheck.h 第 132 行定义.

成员类型定义说明

ActorConstellationCallbackFunctionType

using carla::rss::RssCheck::ActorConstellationCallbackFunctionType

初始值:

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

在文件 RssCheck.h 第 134 行定义.

构造及析构函数说明

RssCheck() [1/2]

carla::rss::RssCheck::RssCheck

(

float

max_steering_angle

)

default constructor with default internal default actor constellation callback

在文件 RssCheck.cpp 第 127 行定义.

引用了 _actor_constellation_callback, _carla_rss_state, _default_actor_constellation_callback_ego_vehicle_dynamics, _default_actor_constellation_callback_other_vehicle_dynamics, _default_actor_constellation_callback_pedestrian_dynamics, _logger, _timing_logger, carla::rss::ActorConstellationResult::actor_dynamics, carla::rss::ActorConstellationResult::actor_object_type, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::ActorConstellationResult::ego_vehicle_dynamics, GetDefaultPedestrianDynamics(), GetDefaultVehicleDynamics(), carla::rss::getLogger(), GetSpeed(), carla::rss::getTimingLogger(), carla::rss::ActorConstellationResult::restrict_speed_limit_mode, carla::rss::ActorConstellationResult::rss_calculation_mode, SetLogLevel() , 以及 SetMapLogLevel().

函数调用图:

RssCheck() [2/2]

carla::rss::RssCheck::RssCheck	(	float	max_steering_angle,
		ActorConstellationCallbackFunctionType	rss_actor_constellation_callback,
		carla::SharedPtr< carla::client::Actor > const &	carla_ego_actor )

constructor with actor constellation callback

在文件 RssCheck.cpp 第 201 行定义.

引用了 _carla_rss_state, _logger, _timing_logger, carla::rss::RssCheck::CarlaRssState::ego_match_object, carla::rss::getLogger(), GetMatchObject(), carla::rss::getTimingLogger(), SetLogLevel(), SetMapLogLevel() , 以及 UpdateDefaultRssDynamics().

函数调用图:

~RssCheck()

carla::rss::RssCheck::~RssCheck

(

)

destructor

在文件 RssCheck.cpp 第 220 行定义.

成员函数说明

AnalyseCheckResults()

void carla::rss::RssCheck::AnalyseCheckResults ( CarlaRssState & carla_rss_state ) const

private

Analyse the RSS check results

在文件 RssCheck.cpp 第 945 行定义.

引用了 _logger, carla::rss::EgoDynamicsOnRoute::crossing_border, carla::rss::RssCheck::CarlaRssState::dangerous_opposite_state, carla::rss::RssCheck::CarlaRssState::dangerous_state, carla::rss::RssCheck::CarlaRssState::dangerous_vehicle, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::RssCheck::CarlaRssState::proper_response, carla::rss::RssCheck::CarlaRssState::rss_state_snapshot , 以及 carla::rss::RssCheck::CarlaRssState::situation_snapshot.

被这些函数引用 CheckObjects().

这是这个函数的调用关系图:

AppendRoutingTarget()

void carla::rss::RssCheck::AppendRoutingTarget

(

const ::carla::geom::Transform &

routing_target

)

appends a routing target to the current routing target list (

参见

also RssSensor::AppendRoutingTargets())

在文件 RssCheck.cpp 第 267 行定义.

引用了 _routing_targets_to_append, carla::geom::Transform::location, carla::geom::Vector3D::x , 以及 carla::geom::Vector3D::y.

CalculateEgoDynamicsOnRoute()

EgoDynamicsOnRoute carla::rss::RssCheck::CalculateEgoDynamicsOnRoute ( carla::client::Timestamp const & current_timestamp, double const & time_since_epoch_check_start_ms, carla::client::Vehicle const & carla_vehicle, ::ad::map::match::Object match_object, ::ad::map::route::FullRoute const & route, ::ad::rss::world::RssDynamics const & default_ego_vehicle_dynamics, EgoDynamicsOnRoute const & last_dynamics ) const

private

calculate ego vehicle dynamics on the route

在文件 RssCheck.cpp 第 599 行定义.

引用了 _logger, carla::rss::EgoDynamicsOnRoute::avg_route_accel_lat, carla::rss::EgoDynamicsOnRoute::avg_route_accel_lon, carla::rss::EgoDynamicsOnRoute::crossing_border, carla::rss::EgoDynamicsOnRoute::ego_center, carla::rss::EgoDynamicsOnRoute::ego_center_within_route, carla::rss::EgoDynamicsOnRoute::ego_heading, carla::rss::EgoDynamicsOnRoute::ego_heading_change, carla::rss::EgoDynamicsOnRoute::ego_speed, carla::rss::EgoDynamicsOnRoute::ego_steering_angle, carla::client::Timestamp::elapsed_seconds, GetHeadingChange(), GetSpeed(), GetSteeringAngle(), carla::rss::EgoDynamicsOnRoute::heading_diff, carla::rss::EgoDynamicsOnRoute::min_stopping_distance, carla::rss::EgoDynamicsOnRoute::route_accel_lat, carla::rss::EgoDynamicsOnRoute::route_accel_lon, carla::rss::EgoDynamicsOnRoute::route_heading, carla::rss::EgoDynamicsOnRoute::route_nominal_center, carla::rss::EgoDynamicsOnRoute::route_speed_lat, carla::rss::EgoDynamicsOnRoute::route_speed_lon, carla::rss::EgoDynamicsOnRoute::time_since_epoch_check_start_ms , 以及 carla::rss::EgoDynamicsOnRoute::timestamp.

被这些函数引用 CheckObjects().

函数调用图:

这是这个函数的调用关系图:

CheckObjects()

bool carla::rss::RssCheck::CheckObjects	(	carla::client::Timestamp const &	timestamp,
		carla::SharedPtr< carla::client::ActorList > const &	actors,
		carla::SharedPtr< carla::client::Actor > const &	carla_ego_actor,
		::ad::rss::state::ProperResponse &	output_response,
		::ad::rss::state::RssStateSnapshot &	output_rss_state_snapshot,
		::ad::rss::situation::SituationSnapshot &	output_situation_snapshot,
		::ad::rss::world::WorldModel &	output_world_model,
		EgoDynamicsOnRoute &	output_rss_ego_dynamics_on_route )

main function to trigger the RSS check at a certain point in time

This function has to be called cyclic with increasing timestamps to ensure proper RSS evaluation.

在文件 RssCheck.cpp 第 296 行定义.

引用了 _carla_rss_state, _logger, AnalyseCheckResults(), CalculateEgoDynamicsOnRoute(), CreateWorldModel(), carla::rss::RssCheck::CarlaRssState::dangerous_state, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, DropRoute(), carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::RssCheck::CarlaRssState::ego_match_object, carla::rss::RssCheck::CarlaRssState::ego_route, carla::client::Timestamp::elapsed_seconds, carla::client::Timestamp::frame, GetMatchObject(), PerformCheck(), carla::rss::RssCheck::CarlaRssState::proper_response, carla::rss::RssCheck::CarlaRssState::rss_state_snapshot, carla::rss::RssCheck::CarlaRssState::situation_snapshot, carla::rss::EgoDynamicsOnRoute::time_since_epoch_check_end_ms, UpdateDefaultRssDynamics(), UpdateRoute() , 以及 carla::rss::RssCheck::CarlaRssState::world_model.

函数调用图:

CreateWorldModel()

void carla::rss::RssCheck::CreateWorldModel ( carla::client::Timestamp const & timestamp, carla::client::ActorList const & actors, carla::client::Vehicle const & carla_ego_vehicle, CarlaRssState & carla_rss_state ) const

private

Create the RSS world model

在文件 RssCheck.cpp 第 867 行定义.

引用了 _carla_rss_state, _road_boundaries_mode, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::EgoDynamicsOnRoute::ego_heading_change, carla::rss::RssCheck::CarlaRssState::ego_match_object, carla::rss::RssCheck::CarlaRssState::ego_route, carla::rss::EgoDynamicsOnRoute::ego_speed, carla::rss::EgoDynamicsOnRoute::ego_steering_angle, carla::client::Timestamp::frame, GetGreenTrafficLightsOnRoute(), carla::client::detail::ActorState::GetId(), carla::client::Actor::GetTransform(), carla::geom::Transform::location, carla::rss::EgoDynamicsOnRoute::min_stopping_distance, carla::rss::Off, RssObjectChecker , 以及 carla::rss::RssCheck::CarlaRssState::world_model.

被这些函数引用 CheckObjects().

函数调用图:

这是这个函数的调用关系图:

DropRoute()

void carla::rss::RssCheck::DropRoute

(

)

drop the current route

Afterwards a new route is selected randomly (if multiple routes are possible).

在文件 RssCheck.cpp 第 291 行定义.

引用了 _carla_rss_state, _logger , 以及 carla::rss::RssCheck::CarlaRssState::ego_route.

被这些函数引用 CheckObjects().

这是这个函数的调用关系图:

GetDefaultActorConstellationCallbackEgoVehicleDynamics()

const::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackEgoVehicleDynamics

(

)

const

返回

the used vehicle dynamics for ego vehicle

在文件 RssCheck.cpp 第 232 行定义.

引用了 _default_actor_constellation_callback_ego_vehicle_dynamics.

GetDefaultActorConstellationCallbackOtherVehicleDynamics()

const::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackOtherVehicleDynamics

(

)

const

返回

the used vehicle dynamics for other vehicles

在文件 RssCheck.cpp 第 241 行定义.

引用了 _default_actor_constellation_callback_other_vehicle_dynamics.

GetDefaultActorConstellationCallbackPedestrianDynamics()

const::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackPedestrianDynamics

(

)

const

返回

the used vehicle dynamics for pedestrians

在文件 RssCheck.cpp 第 250 行定义.

引用了 _default_actor_constellation_callback_pedestrian_dynamics.

GetDefaultPedestrianDynamics()

ad::rss::world::RssDynamics carla::rss::RssCheck::GetDefaultPedestrianDynamics ( )

static

返回

the default pedestrian dynamics

在文件 RssCheck.cpp 第 107 行定义.

被这些函数引用 carla::client::RssSensor::GetPedestrianDynamics() , 以及 RssCheck().

这是这个函数的调用关系图:

GetDefaultRoadBoundariesMode()

static RoadBoundariesMode carla::rss::RssCheck::GetDefaultRoadBoundariesMode ( )

inlinestatic

返回

the default road boundaries mode

在文件 RssCheck.h 第 217 行定义.

引用了 carla::rss::Off.

被这些函数引用 carla::client::RssSensor::GetRoadBoundariesMode().

这是这个函数的调用关系图:

GetDefaultVehicleDynamics()

ad::rss::world::RssDynamics carla::rss::RssCheck::GetDefaultVehicleDynamics ( )

static

返回

the default vehicle dynamics

在文件 RssCheck.cpp 第 88 行定义.

被这些函数引用 carla::client::RssSensor::GetEgoVehicleDynamics(), carla::client::RssSensor::GetOtherVehicleDynamics() , 以及 RssCheck().

这是这个函数的调用关系图:

GetGreenTrafficLightsOnRoute()

ad::map::landmark::LandmarkIdSet carla::rss::RssCheck::GetGreenTrafficLightsOnRoute ( std::vector< SharedPtr< carla::client::TrafficLight > > const & traffic_lights, ::ad::map::route::FullRoute const & route ) const

private

collect the green traffic lights on the current route

在文件 RssCheck.cpp 第 732 行定义.

引用了 _logger, carla::rpc::Green, carla::geom::BoundingBox::location , 以及 carla::geom::Vector3D::x.

被这些函数引用 CreateWorldModel().

这是这个函数的调用关系图:

GetHeadingChange()

ad::physics::AngularVelocity carla::rss::RssCheck::GetHeadingChange ( carla::client::Actor const & actor ) const

private

calculate the heading change from the actor

在文件 RssCheck.cpp 第 466 行定义.

引用了 carla::client::Actor::GetAngularVelocity() , 以及 carla::rss::to_radians.

被这些函数引用 CalculateEgoDynamicsOnRoute().

函数调用图:

这是这个函数的调用关系图:

GetLogger()

std::shared_ptr< spdlog::logger > carla::rss::RssCheck::GetLogger ( )

inline

get the logger of this

在文件 RssCheck.h 第 148 行定义.

引用了 _logger.

GetMatchObject()

ad::map::match::Object carla::rss::RssCheck::GetMatchObject ( carla::SharedPtr< carla::client::Actor > const & actor, ::ad::physics::Distance const & sampling_distance ) const

private

calculate the map matched object from the actor

在文件 RssCheck.cpp 第 418 行定义.

引用了 _logger , 以及 carla::rss::to_radians.

被这些函数引用 CheckObjects() , 以及 RssCheck().

这是这个函数的调用关系图:

GetRoadBoundariesMode()

const::carla::rss::RoadBoundariesMode & carla::rss::RssCheck::GetRoadBoundariesMode

(

)

const

返回

the current mode for respecting the road boundaries (

参见

also RssSensor::GetRoadBoundariesMode())

在文件 RssCheck.cpp 第 259 行定义.

引用了 _road_boundaries_mode.

GetRoutingTargets()

const std::vector<::carla::geom::Transform > carla::rss::RssCheck::GetRoutingTargets

(

)

const

返回

the current routing targets (

参见

also RssSensor::GetRoutingTargets())

在文件 RssCheck.cpp 第 272 行定义.

引用了 _routing_targets, carla::geom::Transform::location, carla::geom::Vector3D::x, carla::geom::Vector3D::y , 以及 carla::geom::Vector3D::z.

GetSpeed()

ad::physics::Speed carla::rss::RssCheck::GetSpeed ( carla::client::Actor const & actor ) const

private

calculate the speed from the actor

在文件 RssCheck.cpp 第 453 行定义.

引用了 carla::client::Actor::GetTransform(), carla::client::Actor::GetVelocity(), carla::geom::Rotation::InverseRotateVector() , 以及 carla::geom::Transform::rotation.

被这些函数引用 CalculateEgoDynamicsOnRoute() , 以及 RssCheck().

函数调用图:

这是这个函数的调用关系图:

GetSteeringAngle()

ad::physics::Angle carla::rss::RssCheck::GetSteeringAngle ( carla::client::Vehicle const & actor ) const

private

calculate the steering angle from the actor

在文件 RssCheck.cpp 第 472 行定义.

引用了 _maximum_steering_angle, carla::client::Vehicle::GetControl() , 以及 carla::rpc::VehicleControl::steer.

被这些函数引用 CalculateEgoDynamicsOnRoute().

函数调用图:

这是这个函数的调用关系图:

PerformCheck()

bool carla::rss::RssCheck::PerformCheck ( CarlaRssState & carla_rss_state ) const

private

Perform the actual RSS check

在文件 RssCheck.cpp 第 931 行定义.

引用了 _logger, carla::rss::RssCheck::CarlaRssState::proper_response, carla::rss::RssCheck::CarlaRssState::rss_check, carla::rss::RssCheck::CarlaRssState::rss_state_snapshot, carla::rss::RssCheck::CarlaRssState::situation_snapshot , 以及 carla::rss::RssCheck::CarlaRssState::world_model.

被这些函数引用 CheckObjects().

这是这个函数的调用关系图:

ResetRoutingTargets()

void carla::rss::RssCheck::ResetRoutingTargets

(

)

resets the current routing targets (

参见

also RssSensor::ResetRoutingTargets())

在文件 RssCheck.cpp 第 286 行定义.

引用了 _routing_targets , 以及 _routing_targets_to_append.

SetDefaultActorConstellationCallbackEgoVehicleDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackEgoVehicleDynamics

(

const ::ad::rss::world::RssDynamics &

ego_vehicle_dynamics

)

sets the vehicle dynamics to be used for the ego vehicle

在文件 RssCheck.cpp 第 236 行定义.

引用了 _default_actor_constellation_callback_ego_vehicle_dynamics.

SetDefaultActorConstellationCallbackOtherVehicleDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackOtherVehicleDynamics

(

const ::ad::rss::world::RssDynamics &

other_vehicle_dynamics

)

sets the vehicle dynamics to be used for other vehicles

在文件 RssCheck.cpp 第 245 行定义.

引用了 _default_actor_constellation_callback_other_vehicle_dynamics.

SetDefaultActorConstellationCallbackPedestrianDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackPedestrianDynamics

(

const ::ad::rss::world::RssDynamics &

pedestrian_dynamics

)

sets the dynamics to be used for pedestrians

在文件 RssCheck.cpp 第 254 行定义.

引用了 _default_actor_constellation_callback_pedestrian_dynamics.

SetLogLevel()

void carla::rss::RssCheck::SetLogLevel

(

const spdlog::level::level_enum &

log_level

)

sets the current log level

在文件 RssCheck.cpp 第 222 行定义.

引用了 _logger.

被这些函数引用 RssCheck() , 以及 RssCheck().

这是这个函数的调用关系图:

SetMapLogLevel()

void carla::rss::RssCheck::SetMapLogLevel

(

const spdlog::level::level_enum &

map_log_level

)

sets the current log level

在文件 RssCheck.cpp 第 227 行定义.

被这些函数引用 RssCheck() , 以及 RssCheck().

这是这个函数的调用关系图:

SetRoadBoundariesMode()

void carla::rss::RssCheck::SetRoadBoundariesMode

(

const ::carla::rss::RoadBoundariesMode &

road_boundaries_mode

)

sets the current mode for respecting the road boundaries (

参见

also RssSensor::SetRoadBoundariesMode())

在文件 RssCheck.cpp 第 263 行定义.

引用了 _road_boundaries_mode.

UpdateDefaultRssDynamics()

void carla::rss::RssCheck::UpdateDefaultRssDynamics ( CarlaRssState & carla_rss_state )

private

在文件 RssCheck.cpp 第 723 行定义.

引用了 _actor_constellation_callback, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::RssCheck::CarlaRssState::ego_match_object , 以及 carla::rss::RssCheck::CarlaRssState::ego_route.

被这些函数引用 CheckObjects() , 以及 RssCheck().

这是这个函数的调用关系图:

UpdateRoute()

void carla::rss::RssCheck::UpdateRoute ( CarlaRssState & carla_rss_state )

private

update the desired ego vehicle route

在文件 RssCheck.cpp 第 478 行定义.

引用了 _logger, _routing_targets, _routing_targets_to_append, carla::rss::RssCheck::CarlaRssState::ego_match_object , 以及 carla::rss::RssCheck::CarlaRssState::ego_route.

被这些函数引用 CheckObjects().

这是这个函数的调用关系图:

友元及相关函数文档

RssObjectChecker

friend class RssObjectChecker

friend

在文件 RssCheck.h 第 298 行定义.

被这些函数引用 CreateWorldModel().

类成员变量说明

_actor_constellation_callback

ActorConstellationCallbackFunctionType carla::rss::RssCheck::_actor_constellation_callback

private

the current actor constellation callback

在文件 RssCheck.h 第 238 行定义.

被这些函数引用 RssCheck() , 以及 UpdateDefaultRssDynamics().

_carla_rss_state

CarlaRssState carla::rss::RssCheck::_carla_rss_state

private

the current state of the ego vehicle

在文件 RssCheck.h 第 301 行定义.

被这些函数引用 CheckObjects(), CreateWorldModel(), DropRoute(), carla::rss::RssCheck::RssObjectChecker::operator()(), RssCheck() , 以及 RssCheck().

_default_actor_constellation_callback_ego_vehicle_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_ego_vehicle_dynamics

private

current used vehicle dynamics for ego vehicle by the default actor constellation callback

在文件 RssCheck.h 第 231 行定义.

被这些函数引用 GetDefaultActorConstellationCallbackEgoVehicleDynamics(), RssCheck() , 以及 SetDefaultActorConstellationCallbackEgoVehicleDynamics().

_default_actor_constellation_callback_other_vehicle_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_other_vehicle_dynamics

private

current used vehicle dynamics for other vehicle by the default actor constellation callback

在文件 RssCheck.h 第 233 行定义.

被这些函数引用 GetDefaultActorConstellationCallbackOtherVehicleDynamics(), RssCheck() , 以及 SetDefaultActorConstellationCallbackOtherVehicleDynamics().

_default_actor_constellation_callback_pedestrian_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_pedestrian_dynamics

private

current used vehicle dynamics for pedestrians by the default actor constellation callback

在文件 RssCheck.h 第 235 行定义.

被这些函数引用 GetDefaultActorConstellationCallbackPedestrianDynamics(), RssCheck() , 以及 SetDefaultActorConstellationCallbackPedestrianDynamics().

_logger

std::shared_ptr<spdlog::logger> carla::rss::RssCheck::_logger

private

standard logger

在文件 RssCheck.h 第 223 行定义.

被这些函数引用 AnalyseCheckResults(), CalculateEgoDynamicsOnRoute(), CheckObjects(), DropRoute(), GetGreenTrafficLightsOnRoute(), GetLogger(), GetMatchObject(), PerformCheck(), RssCheck(), RssCheck(), SetLogLevel() , 以及 UpdateRoute().

_maximum_steering_angle

float carla::rss::RssCheck::_maximum_steering_angle

private

maximum steering angle

在文件 RssCheck.h 第 228 行定义.

被这些函数引用 GetSteeringAngle().

_road_boundaries_mode

::carla::rss::RoadBoundariesMode carla::rss::RssCheck::_road_boundaries_mode

private

current used road boundaries mode

在文件 RssCheck.h 第 241 行定义.

被这些函数引用 CreateWorldModel(), GetRoadBoundariesMode() , 以及 SetRoadBoundariesMode().

_routing_targets

std::vector<::ad::map::point::ENUPoint> carla::rss::RssCheck::_routing_targets

private

current used routing targets

在文件 RssCheck.h 第 243 行定义.

被这些函数引用 GetRoutingTargets(), ResetRoutingTargets() , 以及 UpdateRoute().

_routing_targets_to_append

std::vector<::ad::map::point::ENUPoint> carla::rss::RssCheck::_routing_targets_to_append

private

routing targets to be appended next run

在文件 RssCheck.h 第 245 行定义.

被这些函数引用 AppendRoutingTarget(), ResetRoutingTargets() , 以及 UpdateRoute().

_timing_logger

std::shared_ptr<spdlog::logger> carla::rss::RssCheck::_timing_logger

private

logger for timing log messages

在文件 RssCheck.h 第 225 行定义.

被这些函数引用 RssCheck() , 以及 RssCheck().

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该类的文档由以下文件生成:

• RssCheck.h
• RssCheck.cpp