This class has functionality to detect potential collision with a nearby actor. More...

#include <CollisionStage.h>

Inheritance diagram for carla::traffic_manager::CollisionStage:

Collaboration diagram for carla::traffic_manager::CollisionStage:

Public Member Functions
void	ClearCycleCache ()

	CollisionStage (const std::vector< ActorId > &vehicle_id_list, const SimulationState &simulation_state, const BufferMap &buffer_map, const TrackTraffic &track_traffic, const Parameters &parameters, CollisionFrame &output_array, RandomGenerator &random_device)

void	RemoveActor (const ActorId actor_id) override

void	Reset () override

void	Update (const unsigned long index) override

Private Member Functions
void	DrawBoundary (const LocationVector &boundary)

LocationVector	GetBoundary (const ActorId actor_id)

float	GetBoundingBoxExtention (const ActorId actor_id)

LocationVector	GetGeodesicBoundary (const ActorId actor_id)

GeometryComparison	GetGeometryBetweenActors (const ActorId reference_vehicle_id, const ActorId other_actor_id)

Polygon	GetPolygon (const LocationVector &boundary)

std::pair< bool, float >	NegotiateCollision (const ActorId reference_vehicle_id, const ActorId other_actor_id, const uint64_t reference_junction_look_ahead_index)

Private Member Functions inherited from carla::traffic_manager::Stage
	Stage ()

	Stage (const Stage &)

virtual	~Stage ()

Private Attributes
const BufferMap &	buffer_map

CollisionLockMap	collision_locks

GeodesicBoundaryMap	geodesic_boundary_map

GeometryComparisonMap	geometry_cache

CollisionFrame &	output_array

const Parameters &	parameters

RandomGenerator &	random_device

const SimulationState &	simulation_state

const TrackTraffic &	track_traffic

const std::vector< ActorId > &	vehicle_id_list

Detailed Description

This class has functionality to detect potential collision with a nearby actor.

Definition at line 52 of file CollisionStage.h.

Constructor & Destructor Documentation

◆ CollisionStage()

carla::traffic_manager::CollisionStage::CollisionStage	(	const std::vector< ActorId > &	vehicle_id_list,
		const SimulationState &	simulation_state,
		const BufferMap &	buffer_map,
		const TrackTraffic &	track_traffic,
		const Parameters &	parameters,
		CollisionFrame &	output_array,
		RandomGenerator &	random_device
	)

Definition at line 18 of file CollisionStage.cpp.

Member Function Documentation

◆ ClearCycleCache()

void carla::traffic_manager::CollisionStage::ClearCycleCache ( )

Definition at line 422 of file CollisionStage.cpp.

References geodesic_boundary_map, and geometry_cache.

Referenced by carla::traffic_manager::TrafficManagerLocal::Run().

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◆ DrawBoundary()

void carla::traffic_manager::CollisionStage::DrawBoundary ( const LocationVector & boundary )

private

◆ GetBoundary()

LocationVector carla::traffic_manager::CollisionStage::GetBoundary ( const ActorId actor_id )

private

Definition at line 141 of file CollisionStage.cpp.

References carla::road::EPSILON, carla::traffic_manager::SimulationState::GetDimensions(), carla::traffic_manager::SimulationState::GetHeading(), carla::traffic_manager::SimulationState::GetLocation(), carla::traffic_manager::SimulationState::GetType(), carla::traffic_manager::SimulationState::GetVelocity(), carla::geom::Vector3D::Length(), carla::geom::Vector3D::MakeSafeUnitVector(), carla::traffic_manager::Pedestrian, simulation_state, carla::traffic_manager::constants::Collision::WALKER_TIME_EXTENSION, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by GetGeodesicBoundary(), and GetGeometryBetweenActors().

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◆ GetBoundingBoxExtention()

float carla::traffic_manager::CollisionStage::GetBoundingBoxExtention ( const ActorId actor_id )

private

Definition at line 120 of file CollisionStage.cpp.

Referenced by GetGeodesicBoundary(), and NegotiateCollision().

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◆ GetGeodesicBoundary()

LocationVector carla::traffic_manager::CollisionStage::GetGeodesicBoundary ( const ActorId actor_id )

private

Definition at line 172 of file CollisionStage.cpp.

References buffer_map, carla::traffic_manager::constants::Collision::COS_10_DEGREES, carla::geom::Math::Dot(), carla::road::EPSILON, geodesic_boundary_map, GetBoundary(), GetBoundingBoxExtention(), carla::traffic_manager::SimulationState::GetDimensions(), carla::traffic_manager::Parameters::GetDistanceToLeadingVehicle(), carla::traffic_manager::GetTargetWaypoint(), carla::geom::Vector3D::MakeSafeUnitVector(), parameters, reverse(), simulation_state, SQUARE, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by GetGeometryBetweenActors().

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◆ GetGeometryBetweenActors()

GeometryComparison carla::traffic_manager::CollisionStage::GetGeometryBetweenActors	(	const ActorId	reference_vehicle_id,
		const ActorId	other_actor_id
	)

private

Definition at line 256 of file CollisionStage.cpp.

References geometry_cache, GetBoundary(), GetGeodesicBoundary(), and GetPolygon().

Referenced by NegotiateCollision().

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◆ GetPolygon()

Polygon carla::traffic_manager::CollisionStage::GetPolygon ( const LocationVector & boundary )

private

Definition at line 245 of file CollisionStage.cpp.

Referenced by GetGeometryBetweenActors().

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◆ NegotiateCollision()

std::pair< bool, float > carla::traffic_manager::CollisionStage::NegotiateCollision	(	const ActorId	reference_vehicle_id,
		const ActorId	other_actor_id,
		const uint64_t	reference_junction_look_ahead_index
	)

private

Definition at line 305 of file CollisionStage.cpp.

Referenced by Update().

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◆ RemoveActor()

void carla::traffic_manager::CollisionStage::RemoveActor ( const ActorId actor_id )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 112 of file CollisionStage.cpp.

References collision_locks.

Referenced by carla::traffic_manager::ALSM::RemoveActor().

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◆ Reset()

void carla::traffic_manager::CollisionStage::Reset ( void )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 116 of file CollisionStage.cpp.

References collision_locks.

Referenced by carla::traffic_manager::TrafficManagerLocal::Stop().

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◆ Update()

void carla::traffic_manager::CollisionStage::Update ( const unsigned long index )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 34 of file CollisionStage.cpp.

Referenced by carla::traffic_manager::TrafficManagerLocal::Run().

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Member Data Documentation

◆ buffer_map

const BufferMap& carla::traffic_manager::CollisionStage::buffer_map

private

Definition at line 56 of file CollisionStage.h.

Referenced by GetGeodesicBoundary(), NegotiateCollision(), and Update().

◆ collision_locks

CollisionLockMap carla::traffic_manager::CollisionStage::collision_locks

private

Definition at line 61 of file CollisionStage.h.

Referenced by GetBoundingBoxExtention(), NegotiateCollision(), RemoveActor(), and Reset().

◆ geodesic_boundary_map

GeodesicBoundaryMap carla::traffic_manager::CollisionStage::geodesic_boundary_map

private

Definition at line 66 of file CollisionStage.h.

Referenced by ClearCycleCache(), and GetGeodesicBoundary().

◆ geometry_cache

GeometryComparisonMap carla::traffic_manager::CollisionStage::geometry_cache

private

Definition at line 65 of file CollisionStage.h.

Referenced by ClearCycleCache(), and GetGeometryBetweenActors().

◆ output_array

CollisionFrame& carla::traffic_manager::CollisionStage::output_array

private

Definition at line 59 of file CollisionStage.h.

Referenced by Update().

◆ parameters

const Parameters& carla::traffic_manager::CollisionStage::parameters

private

Definition at line 58 of file CollisionStage.h.

Referenced by GetGeodesicBoundary(), NegotiateCollision(), and Update().

◆ random_device

RandomGenerator& carla::traffic_manager::CollisionStage::random_device

private

Definition at line 67 of file CollisionStage.h.

Referenced by Update().

◆ simulation_state

const SimulationState& carla::traffic_manager::CollisionStage::simulation_state

private

Definition at line 55 of file CollisionStage.h.

Referenced by GetBoundary(), GetBoundingBoxExtention(), GetGeodesicBoundary(), NegotiateCollision(), and Update().

◆ track_traffic

const TrackTraffic& carla::traffic_manager::CollisionStage::track_traffic

private

Definition at line 57 of file CollisionStage.h.

Referenced by Update().

◆ vehicle_id_list

const std::vector<ActorId>& carla::traffic_manager::CollisionStage::vehicle_id_list

private

Definition at line 54 of file CollisionStage.h.

Referenced by Update().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CollisionStage()

Member Function Documentation

◆ ClearCycleCache()

◆ DrawBoundary()

◆ GetBoundary()

◆ GetBoundingBoxExtention()

◆ GetGeodesicBoundary()

◆ GetGeometryBetweenActors()

◆ GetPolygon()

◆ NegotiateCollision()

◆ RemoveActor()

◆ Reset()

◆ Update()

Member Data Documentation

◆ buffer_map

◆ collision_locks

◆ geodesic_boundary_map

◆ geometry_cache

◆ output_array

◆ parameters

◆ random_device

◆ simulation_state

◆ track_traffic

◆ vehicle_id_list