DataStructures.h

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/// This file contains definitions of common data structures used in traffic manager.
 
#pragma once
 
#include <chrono>
#include <deque>
#include <vector>
 
#include "carla/client/Actor.h"
#include "carla/geom/Location.h"
#include "carla/geom/Rotation.h"
#include "carla/geom/Vector3D.h"
#include "carla/rpc/ActorId.h"
#include "carla/rpc/Command.h"
#include "carla/rpc/TrafficLightState.h"
 
#include "carla/trafficmanager/SimpleWaypoint.h"
 
namespace carla {
namespace traffic_manager {
 
namespace chr = std::chrono;
namespace cc = carla::client;
namespace cg = carla::geom;
 
using ActorId = carla::ActorId;
using ActorPtr = carla::SharedPtr<cc::Actor>;
using JunctionID = carla::road::JuncId;
using Junction = carla::SharedPtr<carla::client::Junction>;
using SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>;
using Buffer = std::deque<SimpleWaypointPtr>;
using BufferMap = std::unordered_map<carla::ActorId, Buffer>;
using TimeInstance = chr::time_point<chr::system_clock, chr::nanoseconds>;
using TLS = carla::rpc::TrafficLightState;
 
struct LocalizationData {
  SimpleWaypointPtr junction_end_point;
  SimpleWaypointPtr safe_point;
  bool is_at_junction_entrance;
  /// False when the localization stage could not place the vehicle on the map
  /// -- a map without a single drivable waypoint (EmptyMap, an OpenDRIVE file
  /// with no road). Every later stage assumes a non-empty waypoint buffer, so
  /// TrafficManagerLocal::Step skips such a vehicle for this cycle.
  bool localized = false;
};
using LocalizationFrame = std::vector<LocalizationData>;
 
struct CollisionHazardData {
  float available_distance_margin;
  ActorId hazard_actor_id;
  bool hazard;
};
using CollisionFrame = std::vector<CollisionHazardData>;
 
using ControlFrame = std::vector<carla::rpc::Command>;
 
using TLFrame = std::vector<bool>;
 
/// Structure to hold the actuation signals.
struct ActuationSignal {
  float throttle;
  float brake;
  float steer;
};
 
/// Structure to hold the controller state.
struct StateEntry {
  cc::Timestamp time_instance;
  float angular_deviation;
  float velocity_deviation;
  float steer;
  float throttle {0.0f};
  float brake {0.0f};
  /// Zero is a safe initial value: the shaping raises it to the current speed.
  float reference_velocity {0.0f};
};
 
} // namespace traffic_manager
} // namespace carla