Namespaces
	constants

	PID

Classes
struct	ActuationSignal
	Structure to hold the actuation signals. More...

class	ALSM
	ALSM: Agent Lifecycle and State Managerment This class has functionality to update the local cache of kinematic states and manage memory and cleanup for varying number of vehicles in the simulation. More...

class	AtomicActorSet

class	AtomicMap

class	CachedSimpleWaypoint

struct	ChangeLaneInfo

struct	CollisionHazardData

struct	CollisionLock

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

struct	GeometryComparison

class	InMemoryMap
	This class builds a discretized local map-cache. More...

struct	KinematicState

struct	LocalizationData

class	LocalizationStage
	This class has functionality to maintain a horizon of waypoints ahead of the vehicle for it to follow. More...

class	MotionPlanStage

class	Parameters

class	RandomGenerator

class	SimpleWaypoint
	This is a simple wrapper class on Carla's waypoint object. More...

class	SimulationState
	This class holds the state of all the vehicles in the simlation. More...

class	SnippetProfiler

class	Stage
	Stage type interface. More...

struct	StateEntry
	Structure to hold the controller state. More...

struct	StaticAttributes

class	TrackTraffic

class	TrafficLightStage
	This class has functionality for responding to traffic lights and managing entry into non-signalized junctions. More...

struct	TrafficLightState

class	TrafficManager
	This class integrates all the various stages of the traffic manager appropriately using messengers. More...

class	TrafficManagerBase
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. More...

class	TrafficManagerClient
	Provides communication with the rpc of TrafficManagerServer. More...

class	TrafficManagerLocal
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. More...

class	TrafficManagerRemote
	The function of this class is to integrate all the various stages of the traffic manager appropriately using messengers. More...

class	TrafficManagerServer

class	VehicleLightStage
	This class has functionality for turning on/off the vehicle lights according to the current vehicle state and its surrounding environment. More...

Typedefs
using	Action = std::pair< RoadOption, WaypointPtr >

using	ActionBuffer = std::vector< Action >

using	Actor = carla::SharedPtr< cc::Actor >

using	ActorId = carla::ActorId

using	ActorIdSet = std::unordered_set< ActorId >

using	ActorList = carla::SharedPtr< cc::ActorList >

using	ActorMap = std::unordered_map< ActorId, ActorPtr >

using	ActorPtr = carla::SharedPtr< cc::Actor >

using	Box = bg::model::box< Point3D >

using	Buffer = std::deque< std::shared_ptr< SimpleWaypoint > >

using	BufferMap = std::unordered_map< carla::ActorId, Buffer >

using	CollisionFrame = std::vector< CollisionHazardData >

using	CollisionLockMap = std::unordered_map< ActorId, CollisionLock >

using	ControlFrame = std::vector< carla::rpc::Command >

using	GeodesicBoundaryMap = std::unordered_map< ActorId, LocationVector >

using	GeoGridId = crd::JuncId

using	GeometryComparisonMap = std::unordered_map< uint64_t, GeometryComparison >

using	IdleTimeMap = std::unordered_map< ActorId, double >

using	Junction = carla::SharedPtr< carla::client::Junction >

using	JunctionID = carla::road::JuncId

using	KinematicStateMap = std::unordered_map< ActorId, KinematicState >

using	LaneChangeSWptMap = std::unordered_map< ActorId, SimpleWaypointPtr >

using	LocalizationFrame = std::vector< LocalizationData >

using	LocalMapPtr = std::shared_ptr< InMemoryMap >

using	LocationVector = std::vector< cg::Location >

using	NodeList = std::vector< SimpleWaypointPtr >

using	Path = std::vector< cg::Location >

using	Point2D = bg::model::point< double, 2, bg::cs::cartesian >

using	Point3D = bg::model::point< float, 3, bg::cs::cartesian >

using	Polygon = bg::model::polygon< bg::model::d2::point_xy< double > >

using	RawNodeList = std::vector< WaypointPtr >

using	Route = std::vector< uint8_t >

using	Rtree = bgi::rtree< SpatialTreeEntry, bgi::rstar< 16 > >

using	SegmentId = std::tuple< crd::RoadId, crd::LaneId, crd::SectionId >

using	SegmentMap = std::map< SegmentId, std::vector< SimpleWaypointPtr > >

using	SegmentTopology = std::map< SegmentId, std::pair< std::vector< SegmentId >, std::vector< SegmentId > >>

using	SimpleWaypointPtr = std::shared_ptr< SimpleWaypoint >

using	SpatialTreeEntry = std::pair< Point3D, SimpleWaypointPtr >

using	StaticAttributeMap = std::unordered_map< ActorId, StaticAttributes >

using	TargetWPInfo = std::pair< SimpleWaypointPtr, uint64_t >
	Method to return the wayPoints from the waypoint Buffer by using target point distance. More...

using	TimeInstance = chr::time_point< chr::system_clock, chr::nanoseconds >

using	TimePoint = chr::time_point< chr::system_clock, chr::nanoseconds >

using	TLFrame = std::vector< bool >

using	TLGroup = std::vector< carla::SharedPtr< carla::client::TrafficLight > >

using	TLMap = std::unordered_map< std::string, SharedPtr< client::Actor > >

using	TLS = carla::rpc::TrafficLightState

using	TopologyList = std::vector< std::pair< WaypointPtr, WaypointPtr > >

using	TrafficLightStateMap = std::unordered_map< ActorId, TrafficLightState >

using	WaypointPtr = carla::SharedPtr< cc::Waypoint >

using	WorldMap = carla::SharedPtr< const cc::Map >

Enumerations
enum	ActorType { Vehicle, Pedestrian, Any }

enum	RoadOption : uint8_t { RoadOption::Void = 0, RoadOption::Left = 1, RoadOption::Right = 2, RoadOption::Straight = 3, RoadOption::LaneFollow = 4, RoadOption::ChangeLaneLeft = 5, RoadOption::ChangeLaneRight = 6, RoadOption::RoadEnd = 7 }

Functions
float	DeviationCrossProduct (const cg::Location &reference_location, const cg::Vector3D &heading_vector, const cg::Location &target_location)
	Returns the cross product (z component value) between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon. More...

float	DeviationDotProduct (const cg::Location &reference_location, const cg::Vector3D &heading_vector, const cg::Location &target_location)
	Returns the dot product between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon. More...

TargetWPInfo	GetTargetWaypoint (const Buffer &waypoint_buffer, const float &target_point_distance)

void	PopWaypoint (ActorId actor_id, TrackTraffic &track_traffic, Buffer &buffer, bool front_or_back)

void	PushWaypoint (ActorId actor_id, TrackTraffic &track_traffic, Buffer &buffer, SimpleWaypointPtr &waypoint)

Typedef Documentation

◆ Action

typedef std::pair< RoadOption, WaypointPtr > carla::traffic_manager::Action

Definition at line 23 of file LocalizationStage.h.

◆ ActionBuffer

typedef std::vector< Action > carla::traffic_manager::ActionBuffer

Definition at line 24 of file LocalizationStage.h.

◆ Actor

using carla::traffic_manager::Actor = typedef carla::SharedPtr<cc::Actor>

Definition at line 26 of file LocalizationUtils.h.

◆ ActorId

typedef carla::ActorId carla::traffic_manager::ActorId

Definition at line 21 of file AtomicActorSet.h.

◆ ActorIdSet

typedef std::unordered_set< ActorId > carla::traffic_manager::ActorIdSet

Definition at line 28 of file LocalizationUtils.h.

◆ ActorList

using carla::traffic_manager::ActorList = typedef carla::SharedPtr<cc::ActorList>

Definition at line 33 of file ALSM.h.

◆ ActorMap

using carla::traffic_manager::ActorMap = typedef std::unordered_map<ActorId, ActorPtr>

Definition at line 34 of file ALSM.h.

◆ ActorPtr

typedef carla::SharedPtr< carla::client::Actor > carla::traffic_manager::ActorPtr

Definition at line 20 of file AtomicActorSet.h.

◆ Box

using carla::traffic_manager::Box = typedef bg::model::box<Point3D>

Definition at line 52 of file InMemoryMap.h.

◆ Buffer

typedef std::deque< SimpleWaypointPtr > carla::traffic_manager::Buffer

Definition at line 44 of file CollisionStage.h.

◆ BufferMap

typedef std::unordered_map< carla::ActorId, Buffer > carla::traffic_manager::BufferMap

Definition at line 45 of file CollisionStage.h.

◆ CollisionFrame

using carla::traffic_manager::CollisionFrame = typedef std::vector<CollisionHazardData>

Definition at line 49 of file DataStructures.h.

◆ CollisionLockMap

using carla::traffic_manager::CollisionLockMap = typedef std::unordered_map<ActorId, CollisionLock>

Definition at line 39 of file CollisionStage.h.

◆ ControlFrame

using carla::traffic_manager::ControlFrame = typedef std::vector<carla::rpc::Command>

Definition at line 51 of file DataStructures.h.

◆ GeodesicBoundaryMap

using carla::traffic_manager::GeodesicBoundaryMap = typedef std::unordered_map<ActorId, LocationVector>

Definition at line 47 of file CollisionStage.h.

◆ GeoGridId

typedef carla::road::JuncId carla::traffic_manager::GeoGridId

Definition at line 48 of file InMemoryMap.h.

◆ GeometryComparisonMap

using carla::traffic_manager::GeometryComparisonMap = typedef std::unordered_map<uint64_t, GeometryComparison>

Definition at line 48 of file CollisionStage.h.

◆ IdleTimeMap

using carla::traffic_manager::IdleTimeMap = typedef std::unordered_map<ActorId, double>

Definition at line 35 of file ALSM.h.

◆ Junction

using carla::traffic_manager::Junction = typedef carla::SharedPtr<carla::client::Junction>

Definition at line 30 of file DataStructures.h.

◆ JunctionID

using carla::traffic_manager::JunctionID = typedef carla::road::JuncId

Definition at line 29 of file DataStructures.h.

◆ KinematicStateMap

using carla::traffic_manager::KinematicStateMap = typedef std::unordered_map<ActorId, KinematicState>

Definition at line 26 of file SimulationState.h.

◆ LaneChangeSWptMap

using carla::traffic_manager::LaneChangeSWptMap = typedef std::unordered_map<ActorId, SimpleWaypointPtr>

Definition at line 21 of file LocalizationStage.h.

◆ LocalizationFrame

using carla::traffic_manager::LocalizationFrame = typedef std::vector<LocalizationData>

Definition at line 42 of file DataStructures.h.

◆ LocalMapPtr

typedef std::shared_ptr< InMemoryMap > carla::traffic_manager::LocalMapPtr

Definition at line 36 of file ALSM.h.

◆ LocationVector

using carla::traffic_manager::LocationVector = typedef std::vector<cg::Location>

Definition at line 46 of file CollisionStage.h.

◆ NodeList

using carla::traffic_manager::NodeList = typedef std::vector<SimpleWaypointPtr>

Definition at line 47 of file InMemoryMap.h.

◆ Path

typedef std::vector< cg::Location > carla::traffic_manager::Path

Definition at line 25 of file LocalizationStage.h.

◆ Point2D

using carla::traffic_manager::Point2D = typedef bg::model::point<double, 2, bg::cs::cartesian>

Definition at line 12 of file CollisionStage.cpp.

◆ Point3D

using carla::traffic_manager::Point3D = typedef bg::model::point<float, 3, bg::cs::cartesian>

Definition at line 51 of file InMemoryMap.h.

◆ Polygon

using carla::traffic_manager::Polygon = typedef bg::model::polygon<bg::model::d2::point_xy<double> >

Definition at line 49 of file CollisionStage.h.

◆ RawNodeList

using carla::traffic_manager::RawNodeList = typedef std::vector<WaypointPtr>

Definition at line 20 of file InMemoryMap.cpp.

◆ Route

typedef std::vector< uint8_t > carla::traffic_manager::Route

Definition at line 26 of file LocalizationStage.h.

◆ Rtree

using carla::traffic_manager::Rtree = typedef bgi::rtree<SpatialTreeEntry, bgi::rstar<16> >

Definition at line 58 of file InMemoryMap.h.

◆ SegmentId

using carla::traffic_manager::SegmentId = typedef std::tuple<crd::RoadId, crd::LaneId, crd::SectionId>

Definition at line 55 of file InMemoryMap.h.

◆ SegmentMap

using carla::traffic_manager::SegmentMap = typedef std::map<SegmentId, std::vector<SimpleWaypointPtr> >

Definition at line 57 of file InMemoryMap.h.

◆ SegmentTopology

using carla::traffic_manager::SegmentTopology = typedef std::map<SegmentId, std::pair<std::vector<SegmentId>, std::vector<SegmentId> >>

Definition at line 56 of file InMemoryMap.h.

◆ SimpleWaypointPtr

typedef std::shared_ptr< SimpleWaypoint > carla::traffic_manager::SimpleWaypointPtr

Definition at line 12 of file CachedSimpleWaypoint.cpp.

◆ SpatialTreeEntry

using carla::traffic_manager::SpatialTreeEntry = typedef std::pair<Point3D, SimpleWaypointPtr>

Definition at line 53 of file InMemoryMap.h.

◆ StaticAttributeMap

using carla::traffic_manager::StaticAttributeMap = typedef std::unordered_map<ActorId, StaticAttributes>

Definition at line 40 of file SimulationState.h.

◆ TargetWPInfo

using carla::traffic_manager::TargetWPInfo = typedef std::pair<SimpleWaypointPtr,uint64_t>

Method to return the wayPoints from the waypoint Buffer by using target point distance.

Definition at line 56 of file LocalizationUtils.h.

◆ TimeInstance

typedef chr::time_point< chr::system_clock, chr::nanoseconds > carla::traffic_manager::TimeInstance

Definition at line 34 of file DataStructures.h.

◆ TimePoint

typedef chr::time_point< chr::system_clock, chr::nanoseconds > carla::traffic_manager::TimePoint

Definition at line 18 of file SnippetProfiler.h.

◆ TLFrame

using carla::traffic_manager::TLFrame = typedef std::vector<bool>

Definition at line 53 of file DataStructures.h.

◆ TLGroup

using carla::traffic_manager::TLGroup = typedef std::vector<carla::SharedPtr<carla::client::TrafficLight> >

Definition at line 44 of file TrafficManagerLocal.h.

◆ TLMap

using carla::traffic_manager::TLMap = typedef std::unordered_map<std::string, SharedPtr<client::Actor> >

Definition at line 20 of file MotionPlanStage.h.

◆ TLS

typedef carla::rpc::TrafficLightState carla::traffic_manager::TLS

Definition at line 13 of file CollisionStage.cpp.

◆ TopologyList

using carla::traffic_manager::TopologyList = typedef std::vector<std::pair<WaypointPtr, WaypointPtr> >

Definition at line 19 of file InMemoryMap.cpp.

◆ TrafficLightStateMap

using carla::traffic_manager::TrafficLightStateMap = typedef std::unordered_map<ActorId, TrafficLightState>

Definition at line 32 of file SimulationState.h.

◆ WaypointPtr

typedef carla::SharedPtr< carla::client::Waypoint > carla::traffic_manager::WaypointPtr

Definition at line 45 of file InMemoryMap.h.

◆ WorldMap

using carla::traffic_manager::WorldMap = typedef carla::SharedPtr<const cc::Map>

Definition at line 49 of file InMemoryMap.h.

Enumeration Type Documentation

◆ ActorType

enum carla::traffic_manager::ActorType

Enumerator
Vehicle
Pedestrian
Any

Definition at line 11 of file SimulationState.h.

◆ RoadOption

enum carla::traffic_manager::RoadOption : uint8_t

strong

Enumerator
Void
Left
Right
Straight
LaneFollow
ChangeLaneLeft
ChangeLaneRight
RoadEnd

Definition at line 25 of file SimpleWaypoint.h.

Function Documentation

◆ DeviationCrossProduct()

float carla::traffic_manager::DeviationCrossProduct	(	const cg::Location &	reference_location,
		const cg::Vector3D &	heading_vector,
		const cg::Location &	target_location
	)

Returns the cross product (z component value) between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.

Definition at line 16 of file LocalizationUtils.cpp.

References carla::road::EPSILON, carla::geom::Vector3D::MakeSafeUnitVector(), carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by carla::traffic_manager::MotionPlanStage::Update().

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◆ DeviationDotProduct()

float carla::traffic_manager::DeviationDotProduct	(	const cg::Location &	reference_location,
		const cg::Vector3D &	heading_vector,
		const cg::Location &	target_location
	)

Returns the dot product between the vehicle's heading vector and the vector along the direction to the next target waypoint on the horizon.

Definition at line 25 of file LocalizationUtils.cpp.

References carla::geom::Math::Dot(), carla::road::EPSILON, carla::geom::Vector3D::MakeSafeUnitVector(), min(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::traffic_manager::LocalizationStage::Update(), and carla::traffic_manager::MotionPlanStage::Update().

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◆ GetTargetWaypoint()

TargetWPInfo carla::traffic_manager::GetTargetWaypoint	(	const Buffer &	waypoint_buffer,
		const float &	target_point_distance
	)

Condition to determine forward or backward scanning of waypoint buffer.

Definition at line 59 of file LocalizationUtils.cpp.

References carla::traffic_manager::constants::Map::INV_MAP_RESOLUTION.

Referenced by carla::traffic_manager::TrafficLightStage::GetAffectedJunctionId(), carla::traffic_manager::CollisionStage::GetGeodesicBoundary(), carla::traffic_manager::LocalizationStage::Update(), carla::traffic_manager::MotionPlanStage::Update(), and carla::traffic_manager::CollisionStage::Update().

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◆ PopWaypoint()

void carla::traffic_manager::PopWaypoint	(	ActorId	actor_id,
		TrackTraffic &	track_traffic,
		Buffer &	buffer,
		bool	front_or_back
	)

Definition at line 46 of file LocalizationUtils.cpp.

References carla::traffic_manager::TrackTraffic::RemovePassingVehicle().

Referenced by carla::traffic_manager::LocalizationStage::ImportPath(), carla::traffic_manager::LocalizationStage::ImportRoute(), and carla::traffic_manager::LocalizationStage::Update().

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◆ PushWaypoint()

void carla::traffic_manager::PushWaypoint	(	ActorId	actor_id,
		TrackTraffic &	track_traffic,
		Buffer &	buffer,
		SimpleWaypointPtr &	waypoint
	)

Definition at line 38 of file LocalizationUtils.cpp.

References carla::traffic_manager::TrackTraffic::UpdatePassingVehicle().

Referenced by carla::traffic_manager::LocalizationStage::ExtendAndFindSafeSpace(), carla::traffic_manager::LocalizationStage::ImportPath(), carla::traffic_manager::LocalizationStage::ImportRoute(), and carla::traffic_manager::LocalizationStage::Update().

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Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ Action

◆ ActionBuffer

◆ Actor

◆ ActorId

◆ ActorIdSet

◆ ActorList

◆ ActorMap

◆ ActorPtr

◆ Box

◆ Buffer

◆ BufferMap

◆ CollisionFrame

◆ CollisionLockMap

◆ ControlFrame

◆ GeodesicBoundaryMap

◆ GeoGridId

◆ GeometryComparisonMap

◆ IdleTimeMap

◆ Junction

◆ JunctionID

◆ KinematicStateMap

◆ LaneChangeSWptMap

◆ LocalizationFrame

◆ LocalMapPtr

◆ LocationVector

◆ NodeList

◆ Path

◆ Point2D

◆ Point3D

◆ Polygon

◆ RawNodeList

◆ Route

◆ Rtree

◆ SegmentId

◆ SegmentMap

◆ SegmentTopology

◆ SimpleWaypointPtr

◆ SpatialTreeEntry

◆ StaticAttributeMap

◆ TargetWPInfo

◆ TimeInstance

◆ TimePoint

◆ TLFrame

◆ TLGroup

◆ TLMap

◆ TLS

◆ TopologyList

◆ TrafficLightStateMap

◆ WaypointPtr

◆ WorldMap

Enumeration Type Documentation

◆ ActorType

◆ RoadOption

Function Documentation

◆ DeviationCrossProduct()

◆ DeviationDotProduct()

◆ GetTargetWaypoint()

◆ PopWaypoint()

◆ PushWaypoint()