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

#include <RssSensor.h>

Inheritance diagram for carla::client::RssSensor:

Collaboration diagram for carla::client::RssSensor:

Public Types
using	ActorConstellationCallbackFunctionType = std::function<::carla::rss::ActorConstellationResult(carla::SharedPtr<::carla::rss::ActorConstellationData >)>

Public Types inherited from carla::client::Sensor
using	CallbackFunctionType = std::function< void(SharedPtr< sensor::SensorData >)>

Public Member Functions
void	AppendRoutingTarget (const ::carla::geom::Transform &routing_target)
	appends a routing target to the current routing target list ( More...

void	DropRoute ()
	drop the current route ( More...

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. More...

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

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. More...

void	ResetRoutingTargets ()
	resets the current routing target ( More...

	RssSensor (ActorInitializer init)
	constructor More...

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

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

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

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

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

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

void	Stop () override
	Stop listening for new measurements. More...

	~RssSensor ()
	destructor More...

Public Member Functions inherited from carla::client::Actor
	Actor (ActorInitializer init)

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

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

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

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

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

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

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

void	DisableConstantVelocity ()
	Disable the constant velocity mode. More...

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

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

rpc::ActorState	GetActorState () const

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

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

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

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

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

const auto &	Serialize () const

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

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

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

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

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

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

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

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

virtual	~Actor ()=default

Public Member Functions inherited from 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 Member Functions
void	TickRssSensor (const client::Timestamp &timestamp, CallbackFunctionType callback)
	the acutal sensor tick callback function More...

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

Private Attributes
bool	_drop_route
	reqired to store DropRoute() requests until next sensor tick More...

std::size_t	_last_processed_frame
	last processed frame More...

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

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

ActorConstellationCallbackFunctionType	_rss_actor_constellation_callback

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

std::list< double >	_rss_check_timings
	some debug timings More...

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

Static Private Attributes
static std::atomic_uint	_global_map_initialization_counter_ {0u}

Additional Inherited Members
Protected Member Functions inherited from 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

Detailed Description

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

Definition at line 45 of file LibCarla/source/carla/rss/RssSensor.h.

Member Typedef Documentation

◆ ActorConstellationCallbackFunctionType

using carla::client::RssSensor::ActorConstellationCallbackFunctionType = std::function<::carla::rss::ActorConstellationResult(carla::SharedPtr<::carla::rss::ActorConstellationData>)>

Definition at line 50 of file LibCarla/source/carla/rss/RssSensor.h.

Constructor & Destructor Documentation

◆ RssSensor()

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

explicit

constructor

Definition at line 27 of file LibCarla/source/carla/rss/RssSensor.cpp.

◆ ~RssSensor()

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

destructor

Definition at line 29 of file LibCarla/source/carla/rss/RssSensor.cpp.

References IsListening(), and Stop().

Here is the call graph for this function:

Member Function Documentation

◆ AppendRoutingTarget()

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

appends a routing target to the current routing target list (

See also: also RssCheck::AppendRoutingTarget())

Definition at line 263 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ DropRoute()

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

drop the current route (

See also: also RssCheck::DropRoute())

Definition at line 290 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _drop_route.

◆ GetEgoVehicleDynamics()

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

Returns: the currently used dynamics of the ego vehicle (

See also: also RssCheck::GetEgoVehicleDynamics())

Definition at line 157 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultVehicleDynamics(), carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ GetOtherVehicleDynamics()

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

Returns: the currently used dynamics of other vehicles (

See also: also RssCheck::GetOtherVehicleDynamics())

Definition at line 186 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultVehicleDynamics(), carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ GetPedestrianDynamics()

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

Returns: the currently used dynamics of pedestrians (

See also: also RssCheck::GetPedestrianDynamics())

Definition at line 215 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::rss::RssCheck::GetDefaultPedestrianDynamics(), carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ GetRoadBoundariesMode()

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

Returns: the current mode for respecting the road boundaries (

See also: also RssCheck::GetRoadBoundariesMode())

Definition at line 244 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::rss::RssCheck::GetDefaultRoadBoundariesMode(), carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ GetRoutingTargets()

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

Returns: the current routing targets (

See also: also RssCheck::GetRoutingTargets())

Definition at line 272 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ IsListening()

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

inlineoverridevirtual

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

Implements carla::client::Sensor.

Definition at line 77 of file LibCarla/source/carla/rss/RssSensor.h.

Referenced by Listen(), RegisterActorConstellationCallback(), Stop(), and ~RssSensor().

Here is the caller graph for this function:

◆ Listen()

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

overridevirtual

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

Warning: 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.

Implements carla::client::Sensor.

Definition at line 46 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _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(), carla::throw_exception(), and TrafficLight.

Here is the call graph for this function:

◆ 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.

Definition at line 36 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, carla::client::detail::ActorState::GetDisplayId(), IsListening(), and carla::log_error().

Here is the call graph for this function:

◆ ResetRoutingTargets()

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

resets the current routing target (

See also: also RssCheck::ResetRoutingTargets())

Definition at line 281 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ 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 (

See also: also RssCheck::SetEgoVehicleDynamics())

Definition at line 172 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ SetLogLevel()

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

sets the current log level

Definition at line 135 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ SetMapLogLevel()

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

sets the current map log level

Definition at line 146 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ 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 (

See also: also RssCheck::SetOtherVehicleDynamics())

Definition at line 201 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ SetPedestrianDynamics()

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

sets the ego vehicle dynamics to be used by pedestrians (

See also: also RssCheck::SetPedestrianDynamics())

Definition at line 230 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_actor_constellation_callback, _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ SetRoadBoundariesMode()

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

sets the current mode for respecting the road boundaries (

See also: also RssCheck::SetRoadBoundariesMode())

Definition at line 254 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _rss_check, carla::client::detail::ActorState::GetDisplayId(), and carla::log_error().

Here is the call graph for this function:

◆ Stop()

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

overridevirtual

Stop listening for new measurements.

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

Implements carla::client::Sensor.

Definition at line 105 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _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(), and carla::log_error().

Referenced by ~RssSensor().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ TickRssSensor()

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

private

the acutal sensor tick callback function

Definition at line 296 of file LibCarla/source/carla/rss/RssSensor.cpp.

References _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(), and TickRssSensorThreadLocked().

Here is the call graph for this function:

◆ TickRssSensorThreadLocked()

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