Constants.h File Reference

#include <chrono>
#include <limits>
#include <stdint.h>
#include <iostream>
#include <vector>

Go to the source code of this file.

Namespaces
namespace	carla
	This file contains definitions of common data structures used in traffic manager.
namespace	carla::traffic_manager
namespace	carla::traffic_manager::constants
namespace	carla::traffic_manager::constants::Collision
namespace	carla::traffic_manager::constants::FrameMemory
namespace	carla::traffic_manager::constants::HybridMode
namespace	carla::traffic_manager::constants::LaneChange
namespace	carla::traffic_manager::constants::Map
namespace	carla::traffic_manager::constants::MotionPlan
namespace	carla::traffic_manager::constants::Networking
namespace	carla::traffic_manager::constants::PathBufferUpdate
namespace	carla::traffic_manager::constants::PID
namespace	carla::traffic_manager::constants::SpeedThreshold
namespace	carla::traffic_manager::constants::StuckRecovery
namespace	carla::traffic_manager::constants::TrackTraffic
namespace	carla::traffic_manager::constants::TrafficLight
namespace	carla::traffic_manager::constants::VehicleLight
namespace	carla::traffic_manager::constants::VehicleRemoval
namespace	carla::traffic_manager::constants::WaypointSelection
namespace	carla::traffic_manager::constants::WorldInfoRefresh

Macros
#define	RATE(MaxY, MinY, DiffX)   (((MaxY) - (MinY)) / (DiffX))
#define	SQUARE(a)   ((a) * (a))
	This file contains various constants used in traffic manager arranged into sensible namespaces for re-usability across different files.

Functions
bool	carla::traffic_manager::constants::WorldInfoRefresh::IsBatchSyncDue (const uint64_t unwaited_batches, const uint64_t limit)
bool	carla::traffic_manager::constants::WorldInfoRefresh::IsEarlyRefreshDue (const bool refreshed_this_step, const bool missing_from_the_last_refresh)
	A vehicle the server already omitted from a fresh list (dormant on a large map) must not re-arm the unscheduled read on every other step.
bool	carla::traffic_manager::constants::WorldInfoRefresh::IsRefreshDue (const double now, const double last, const double period)
	Also true when the clock jumps backwards (new episode) or on NaN, so an unusable clock refreshes rather than pins the cache for ever.

Variables
static const float	carla::traffic_manager::constants::SpeedThreshold::AFTER_JUNCTION_MIN_SPEED = 5.0f / 3.6f
static const float	carla::traffic_manager::constants::StuckRecovery::ALIGN_ENTER_DEVIATION = 0.6f
static const float	carla::traffic_manager::constants::StuckRecovery::ALIGN_EXIT_DEVIATION = 0.1f
static const uint16_t	carla::traffic_manager::constants::MotionPlan::ATTEMPTS_TO_TELEPORT = 5u
static const double	carla::traffic_manager::constants::VehicleRemoval::BLOCKED_TIME_THRESHOLD = 90.0
static const float	carla::traffic_manager::constants::Collision::BOUNDARY_EXTENSION_MINIMUM = 2.5f
static const float	carla::traffic_manager::constants::Collision::BOUNDARY_EXTENSION_RATE = 4.35f
static const float	carla::traffic_manager::constants::PID::BRAKE_DEADBAND = 0.01f
static const uint64_t	carla::traffic_manager::constants::TrackTraffic::BUFFER_STEP_THROUGH = 5
static const float	carla::traffic_manager::constants::Collision::COLLISION_RADIUS_MIN = 20.0f
static const float	carla::traffic_manager::constants::Collision::COLLISION_RADIUS_RATE = 2.65f
static const float	carla::traffic_manager::constants::Collision::COLLISION_RADIUS_STOP = 8.0f
static const float	carla::traffic_manager::constants::PID::COMFORT_ACCELERATION = 2.0f
static const float	carla::traffic_manager::constants::Collision::COS_10_DEGREES = 0.9848f
static const float	carla::traffic_manager::constants::MotionPlan::CRITICAL_BRAKING_MARGIN = 0.2f
static const float	carla::traffic_manager::constants::MotionPlan::CURVATURE_SAMPLE_SPACING = Map::MAP_RESOLUTION
static float const	carla::traffic_manager::constants::Map::DELTA = 25.0f
static const double	carla::traffic_manager::constants::VehicleRemoval::DELTA_TIME_BETWEEN_DESTRUCTIONS = 10.0
static const float	carla::traffic_manager::constants::PID::DT = 0.05f
static const double	carla::traffic_manager::constants::WorldInfoRefresh::EPISODE_SETTINGS_REFRESH_PERIOD = 1.0
static const float	carla::traffic_manager::constants::Collision::EPSILON = 2.0f * std::numeric_limits<float>::epsilon()
static const float	carla::traffic_manager::constants::MotionPlan::EPSILON_RELATIVE_SPEED = 0.001f
static const double	carla::traffic_manager::constants::TrafficLight::EXIT_JUNCTION_THRESHOLD = 0
static const float	carla::traffic_manager::constants::LaneChange::FIFTYPERC = 50.0f
static const float	carla::traffic_manager::constants::VehicleLight::FOG_DENSITY_THRESHOLD = 20.0f
static const float	carla::traffic_manager::constants::MotionPlan::FOLLOW_LEAD_FACTOR = 2.0f
static const float	carla::traffic_manager::constants::StuckRecovery::FORWARD_THROTTLE = 0.3f
static const uint64_t	carla::traffic_manager::constants::FrameMemory::GROWTH_STEP_SIZE = 50u
static const float	carla::traffic_manager::constants::VehicleLight::HEAVY_PRECIPITATION_THRESHOLD = 80.0f
static const float	carla::traffic_manager::constants::PathBufferUpdate::HIGH_SPEED_HORIZON_RATE = 4.0f
static const float	carla::traffic_manager::constants::SpeedThreshold::HIGHWAY_SPEED = 60.0f / 3.6f
static const float	carla::traffic_manager::constants::PathBufferUpdate::HORIZON_RATE = 2.0f
static const double	carla::traffic_manager::constants::HybridMode::HYBRID_MODE_DT = 0.05
static const float	carla::traffic_manager::constants::HybridMode::HYBRID_MODE_DT_FL = 0.05f
static const float	carla::traffic_manager::constants::Map::INFINITE_DISTANCE = std::numeric_limits<float>::max()
static const float	carla::traffic_manager::constants::SpeedThreshold::INITIAL_PERCENTAGE_SPEED_DIFFERENCE = 0.0f
static const uint64_t	carla::traffic_manager::constants::FrameMemory::INITIAL_SIZE = 50u
static const float	carla::traffic_manager::constants::LaneChange::INTER_LANE_CHANGE_DISTANCE = 10.0f
static const float	carla::traffic_manager::constants::TrackTraffic::INV_BUFFER_STEP_THROUGH = 1.0f / static_cast<float>(BUFFER_STEP_THROUGH)
static const float	carla::traffic_manager::constants::PID::INV_DT = 1.0f / DT
static const float	carla::traffic_manager::constants::FrameMemory::INV_GROWTH_STEP_SIZE = 1.0f / static_cast<float>(GROWTH_STEP_SIZE)
static const double	carla::traffic_manager::constants::HybridMode::INV_HYBRID_DT = 1.0 / HYBRID_MODE_DT
static const float	carla::traffic_manager::constants::Map::INV_MAP_RESOLUTION = 1.0f / MAP_RESOLUTION
static const float	carla::traffic_manager::constants::WaypointSelection::JUNCTION_LOOK_AHEAD = 5.0f
static const float	carla::traffic_manager::constants::MotionPlan::LANDMARK_DETECTION_TIME = 3.5f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_CLEARANCE = 1.0f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_INBOARD_SCALE = 0.25f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_MAX_RADIUS = 20.0f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_OFFSET = 1.5f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_OFFSET_GAIN = 0.25f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_POINT = 0.3f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_REF_LENGTH = 6.0f
static const float	carla::traffic_manager::constants::WaypointSelection::LARGE_VEHICLES_JUNCTION_SIDE_MARGIN = 2.0f
static const float	carla::traffic_manager::constants::MotionPlan::LATERAL_COMFORT_ACCELERATION = 3.0f
static const std::vector< float >	carla::traffic_manager::constants::PID::LATERAL_HIGHWAY_PARAM = {2.0f, 0.02f, 0.24f}
static const std::vector< float >	carla::traffic_manager::constants::PID::LATERAL_PARAM = {2.0f, 0.03f, 0.24f}
static const float	carla::traffic_manager::constants::PID::LAUNCH_RAMP_SPEED = 2.0f
static const float	carla::traffic_manager::constants::Collision::LOCKING_DISTANCE_PADDING = 4.0f
static const std::vector< float >	carla::traffic_manager::constants::PID::LONGITUDIAL_HIGHWAY_PARAM = {20.0f, 0.05f, 0.01f}
static const std::vector< float >	carla::traffic_manager::constants::PID::LONGITUDIAL_PARAM = {12.0f, 0.05f, 0.02f}
static const float	carla::traffic_manager::constants::Map::MAP_RESOLUTION = 5.0f
static const float	carla::traffic_manager::constants::PID::MAX_BRAKE = 0.7f
static const float	carla::traffic_manager::constants::PID::MAX_CONTROL_DT = 0.2f
static const float	carla::traffic_manager::constants::PID::MAX_DEVIATION_DELTA = 0.05f
static const float	carla::traffic_manager::constants::PID::MAX_DEVIATION_RATE = MAX_DEVIATION_DELTA / DT
static const float	carla::traffic_manager::constants::VehicleLight::MAX_DISTANCE_LIGHT_CHECK = 225.0f
static const float	carla::traffic_manager::constants::Map::MAX_GEODESIC_GRID_LENGTH = 20.0f
static const float	carla::traffic_manager::constants::MotionPlan::MAX_JUNCTION_BLOCK_DISTANCE = 1.0f * WaypointSelection::SAFE_DISTANCE_AFTER_JUNCTION
static const float	carla::traffic_manager::constants::PID::MAX_LATERAL_GAIN_SCALE
static constexpr float	carla::traffic_manager::constants::PID::MAX_LAUNCH_THROTTLE_RISE_RATE = 1.7f
static const float	carla::traffic_manager::constants::Collision::MAX_LOCKING_EXTENSION = 10.0f
static const float	carla::traffic_manager::constants::WaypointSelection::MAX_PURSUIT_CHORD_SAGITTA = 0.2f
static const float	carla::traffic_manager::constants::PathBufferUpdate::MAX_START_DISTANCE = 20.0f
static const float	carla::traffic_manager::constants::PID::MAX_STEER_AUTHORITY_CORRECTION = 2.5f
static const float	carla::traffic_manager::constants::PID::MAX_STEERING = 0.8f
static const float	carla::traffic_manager::constants::PID::MAX_STEERING_DIFF = 0.15f
static const float	carla::traffic_manager::constants::PID::MAX_STEERING_RATE = MAX_STEERING_DIFF / DT
static const float	carla::traffic_manager::constants::WaypointSelection::MAX_TARGET_WAYPOINT_DISTANCE = 10.0f
static const float	carla::traffic_manager::constants::PID::MAX_THROTTLE = 0.85f
static const uint64_t	carla::traffic_manager::constants::WorldInfoRefresh::MAX_UNWAITED_CONTROL_BATCHES = 4u
static const float	carla::traffic_manager::constants::LaneChange::MAX_WPT_DISTANCE = 20.0f
static const double	carla::traffic_manager::constants::Map::MAX_WPT_DISTANCE = MAP_RESOLUTION/2.0 + SQUARE(MAP_RESOLUTION)
static const float	carla::traffic_manager::constants::Map::MAX_WPT_RADIANS = 0.087f
static const float	carla::traffic_manager::constants::LaneChange::MAXIMUM_LANE_OBSTACLE_CURVATURE = 0.6f
static const float	carla::traffic_manager::constants::LaneChange::MAXIMUM_LANE_OBSTACLE_DISTANCE = 50.0f
static constexpr float	carla::traffic_manager::constants::PID::MIN_CONTROL_DT = 0.01f
static const float	carla::traffic_manager::constants::MotionPlan::MIN_FOLLOW_LEAD_DISTANCE = 2.0f
static const float	carla::traffic_manager::constants::WaypointSelection::MIN_JUNCTION_LENGTH = 8.0f
static const float	carla::traffic_manager::constants::LaneChange::MIN_LANE_CHANGE_SPEED = 5.0f
static const double	carla::traffic_manager::constants::Map::MIN_LANE_WIDTH = 1.0f
static const float	carla::traffic_manager::constants::Collision::MIN_REFERENCE_DISTANCE = 0.5f
static const float	carla::traffic_manager::constants::WaypointSelection::MIN_SAFE_INTERVAL_LENGTH = 0.5f * SAFE_DISTANCE_AFTER_JUNCTION
static const float	carla::traffic_manager::constants::WaypointSelection::MIN_TARGET_WAYPOINT_DISTANCE = 3.0f
static const uint64_t	carla::traffic_manager::constants::Networking::MIN_TRY_COUNT = 20u
static const float	carla::traffic_manager::constants::Collision::MIN_VELOCITY_COLL_RADIUS = 2.0f
static const float	carla::traffic_manager::constants::LaneChange::MIN_WPT_DISTANCE = 5.0f
static const float	carla::traffic_manager::constants::PathBufferUpdate::MINIMUM_HORIZON_LENGTH = 15.0f
static const float	carla::traffic_manager::constants::LaneChange::MINIMUM_LANE_CHANGE_DISTANCE = 20.0f
static const double	carla::traffic_manager::constants::TrafficLight::MINIMUM_STOP_TIME = 2.0
static const float	carla::traffic_manager::constants::StuckRecovery::MISALIGN_MAX_SPEED = 3.5f
static const float	carla::traffic_manager::constants::Collision::OVERLAP_THRESHOLD = 0.1f
static const float	carla::traffic_manager::constants::MotionPlan::PERC_MAX_SLOWDOWN = 0.08f
static const double	carla::traffic_manager::constants::StuckRecovery::PHASE_DURATION = 1.5
static const float	carla::traffic_manager::constants::HybridMode::PHYSICS_RADIUS = 50.0f
static const float	carla::traffic_manager::constants::MotionPlan::PI = 3.1415927f
static const float	carla::traffic_manager::constants::PID::PURSUIT_CURVATURE_MARGIN = 1.32f
static const float	carla::traffic_manager::constants::StuckRecovery::RECOVERY_STEER = 0.8f
static const double	carla::traffic_manager::constants::VehicleRemoval::RED_TL_BLOCKED_TIME_THRESHOLD = 180.0
static const float	carla::traffic_manager::constants::PID::REF_MAX_STEER_ANGLE = 70.0f
static const float	carla::traffic_manager::constants::PID::REF_VEHICLE_LENGTH = 4.9f
static const float	carla::traffic_manager::constants::PID::REFERENCE_LEAD_FRACTION = 0.15f
static const float	carla::traffic_manager::constants::MotionPlan::RELATIVE_APPROACH_SPEED = 12.0f / 3.6f
static const float	carla::traffic_manager::constants::StuckRecovery::REVERSE_THROTTLE = 0.5f
static const float	carla::traffic_manager::constants::WaypointSelection::SAFE_DISTANCE_AFTER_JUNCTION = 4.0f
static const std::chrono::milliseconds	carla::traffic_manager::constants::WorldInfoRefresh::SNAPSHOT_POLL_PERIOD {1}
static const float	carla::traffic_manager::constants::Collision::SQUARE_ROOT_OF_TWO = 1.414f
static const float	carla::traffic_manager::constants::PID::STEER_DEADBAND = 0.002f
static const float	carla::traffic_manager::constants::PID::STEER_DEADBAND_REF_SPEED = 8.0f
static const float	carla::traffic_manager::constants::PID::STEER_LIMIT_GAIN = 30.0f
static const float	carla::traffic_manager::constants::MotionPlan::STOP_TARGET_VELOCITY = 10.0f / 3.6f
static const float	carla::traffic_manager::constants::VehicleRemoval::STOPPED_VELOCITY_THRESHOLD = 0.8f
static float const	carla::traffic_manager::constants::Map::STRAIGHT_DEG = 19.0f
static const float	carla::traffic_manager::constants::StuckRecovery::STUCK_SPEED = 0.3f
static const double	carla::traffic_manager::constants::StuckRecovery::STUCK_TIME = 3.0
static const float	carla::traffic_manager::constants::VehicleLight::SUN_ALTITUDE_DEGREES_AFTER_SUNSET = 165.0f
static const float	carla::traffic_manager::constants::VehicleLight::SUN_ALTITUDE_DEGREES_BEFORE_DAWN = 15.0f
static const float	carla::traffic_manager::constants::VehicleLight::SUN_ALTITUDE_DEGREES_JUST_AFTER_DAWN = 35.0f
static const float	carla::traffic_manager::constants::VehicleLight::SUN_ALTITUDE_DEGREES_JUST_BEFORE_SUNSET = 145.0f
static const float	carla::traffic_manager::constants::WaypointSelection::TARGET_WAYPOINT_TIME_HORIZON = 1.0f
static constexpr float	carla::traffic_manager::constants::PID::THROTTLE_DEADBAND = 0.01f
static const float	carla::traffic_manager::constants::MotionPlan::TL_TARGET_VELOCITY = 15.0f / 3.6f
static const unsigned short	carla::traffic_manager::constants::Networking::TM_DEFAULT_PORT = 8000u
static const int64_t	carla::traffic_manager::constants::Networking::TM_TIMEOUT = 2000
static const float	carla::traffic_manager::constants::MotionPlan::TURN_BRAKING_DECELERATION = 2.0f
static const float	carla::traffic_manager::constants::MotionPlan::TWO_KM = 2000.0f
static const double	carla::traffic_manager::constants::WorldInfoRefresh::VEHICLE_LIGHT_STATES_REFRESH_PERIOD = 0.25
static const float	carla::traffic_manager::constants::Collision::VEL_EXT_FACTOR = 0.36f
static const float	carla::traffic_manager::constants::Collision::VERTICAL_OVERLAP_THRESHOLD = 4.0f
static const float	carla::traffic_manager::constants::Collision::WALKER_TIME_EXTENSION = 1.5f
static const double	carla::traffic_manager::constants::WorldInfoRefresh::WEATHER_REFRESH_PERIOD = 1.0
static const float	carla::traffic_manager::constants::PID::WHEELBASE_FRACTION = 0.6f
static const float	carla::traffic_manager::constants::MotionPlan::YIELD_TARGET_VELOCITY = 10.0f / 3.6f
static float const	carla::traffic_manager::constants::Map::Z_DELTA = 500.0f

Macro Definition Documentation

RATE

#define RATE	(		MaxY,
			MinY,
			DiffX
	)		(((MaxY) - (MinY)) / (DiffX))

Definition at line 15 of file Constants.h.

SQUARE

#define SQUARE

(

a

)

((a) * (a))

This file contains various constants used in traffic manager arranged into sensible namespaces for re-usability across different files.

Definition at line 14 of file Constants.h.