#include <WalkerNavigation.h>

Inheritance diagram for carla::client::detail::WalkerNavigation:

Classes
struct	WalkerHandle

Public Member Functions
void	AddWalker (ActorId walker_id, carla::geom::Location location)

std::optional< geom::Location >	GetRandomLocation ()

bool	IsServerSide () const
	True when the server hosts the navigation (World-Partitioned navmesh): the client-side Detour crowd stays disabled and walker AI goes through the walker_* RPCs instead.

void	RegisterWalker (ActorId walker_id, ActorId controller_id)

void	RemoveWalker (ActorId walker_id)

void	SetPedestriansCrossFactor (float percentage)

void	SetPedestriansSeed (unsigned int seed)

bool	SetWalkerMaxSpeed (ActorId id, float max_speed)

bool	SetWalkerTarget (ActorId id, const carla::geom::Location to)

void	Tick (std::shared_ptr< Episode > episode)

void	UnregisterWalker (ActorId walker_id, ActorId controller_id)

	WalkerNavigation (std::weak_ptr< Simulator > simulator, bool server_side=false)

Private Member Functions
void	CheckIfWalkerExist (std::vector< WalkerHandle > walkers, const EpisodeState &state)
	check a few walkers and if they don't exist then remove from the crowd

void	UpdateVehiclesInCrowd (std::shared_ptr< Episode > episode, bool show_debug=false)
	add/update/delete all vehicles in crowd

Private Member Functions inherited from carla::NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

	NonCopyable (NonCopyable &&)=delete

NonCopyable &	operator= (const NonCopyable &)=delete

NonCopyable &	operator= (NonCopyable &&)=delete

Private Attributes
carla::nav::Navigation	_nav

unsigned long	_next_check_index

const bool	_server_side

std::weak_ptr< Simulator >	_simulator

AtomicList< WalkerHandle >	_walkers

Detailed Description

Definition at line 25 of file WalkerNavigation.h.

Constructor & Destructor Documentation

◆ WalkerNavigation()

carla::client::detail::WalkerNavigation::WalkerNavigation	(	std::weak_ptr< Simulator >	simulator,
		bool	server_side = `false`
	)

explicit

Definition at line 24 of file WalkerNavigation.cpp.

References _nav, _server_side, _simulator, carla::nav::Navigation::Load(), and carla::nav::Navigation::SetSimulator().

Member Function Documentation

◆ AddWalker()

void carla::client::detail::WalkerNavigation::AddWalker	(	ActorId	walker_id,
		carla::geom::Location	location
	)

inline

Definition at line 63 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::AddWalker().

◆ CheckIfWalkerExist()

void carla::client::detail::WalkerNavigation::CheckIfWalkerExist	(	std::vector< WalkerHandle >	walkers,
		const EpisodeState &	state
	)

private

check a few walkers and if they don't exist then remove from the crowd

Definition at line 96 of file WalkerNavigation.cpp.

References _nav, _next_check_index, _simulator, carla::client::detail::EpisodeState::ContainsActorSnapshot(), carla::nav::Navigation::RemoveAgent(), and UnregisterWalker().

Referenced by Tick().

◆ GetRandomLocation()

std::optional< geom::Location > carla::client::detail::WalkerNavigation::GetRandomLocation ( )

inline

Definition at line 71 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::GetRandomLocation().

◆ IsServerSide()

bool carla::client::detail::WalkerNavigation::IsServerSide ( ) const

inline

True when the server hosts the navigation (World-Partitioned navmesh): the client-side Detour crowd stays disabled and walker AI goes through the walker_* RPCs instead.

Definition at line 35 of file WalkerNavigation.h.

References _server_side.

◆ RegisterWalker()

void carla::client::detail::WalkerNavigation::RegisterWalker	(	ActorId	walker_id,
		ActorId	controller_id
	)

inline

Definition at line 39 of file WalkerNavigation.h.

References _walkers.

◆ RemoveWalker()

void carla::client::detail::WalkerNavigation::RemoveWalker ( ActorId walker_id )

inline

Definition at line 58 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::RemoveAgent().

◆ SetPedestriansCrossFactor()

void carla::client::detail::WalkerNavigation::SetPedestriansCrossFactor ( float percentage )

inline

Definition at line 90 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::SetPedestriansCrossFactor().

◆ SetPedestriansSeed()

void carla::client::detail::WalkerNavigation::SetPedestriansSeed ( unsigned int seed )

inline

Definition at line 94 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::SetSeed().

◆ SetWalkerMaxSpeed()

bool carla::client::detail::WalkerNavigation::SetWalkerMaxSpeed	(	ActorId	id,
		float	max_speed
	)

inline

Definition at line 85 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::SetWalkerMaxSpeed().

◆ SetWalkerTarget()

bool carla::client::detail::WalkerNavigation::SetWalkerTarget	(	ActorId	id,
		const carla::geom::Location	to
	)

inline

Definition at line 80 of file WalkerNavigation.h.

References _nav, and carla::nav::Navigation::SetWalkerTarget().

◆ Tick()

void carla::client::detail::WalkerNavigation::Tick ( std::shared_ptr< Episode > episode )

Definition at line 41 of file WalkerNavigation.cpp.

References _nav, _server_side, _simulator, _walkers, CheckIfWalkerExist(), carla::nav::Navigation::GetWalkerSpeed(), carla::nav::Navigation::GetWalkerTransform(), carla::nav::Navigation::IsWalkerAlive(), carla::nav::Navigation::RemoveAgent(), UnregisterWalker(), carla::nav::Navigation::UpdateCrowd(), and UpdateVehiclesInCrowd().

◆ UnregisterWalker()

void carla::client::detail::WalkerNavigation::UnregisterWalker	(	ActorId	walker_id,
		ActorId	controller_id
	)

inline

Definition at line 44 of file WalkerNavigation.h.

References _walkers.

Referenced by CheckIfWalkerExist(), and Tick().

◆ UpdateVehiclesInCrowd()

void carla::client::detail::WalkerNavigation::UpdateVehiclesInCrowd	(	std::shared_ptr< Episode >	episode,
		bool	show_debug = `false`
	)

private

add/update/delete all vehicles in crowd

Definition at line 117 of file WalkerNavigation.cpp.

References _nav, _simulator, carla::rpc::DebugShape::color, carla::nav::Navigation::GetCrowd(), carla::nav::VehicleCollisionInfo::id, carla::rpc::DebugShape::life_time, carla::rpc::DebugShape::persistent_lines, carla::rpc::DebugShape::primitive, carla::client::ActorSnapshot::transform, carla::nav::Navigation::UpdateVehicles(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by Tick().

Member Data Documentation

◆ _nav

carla::nav::Navigation carla::client::detail::WalkerNavigation::_nav

private

Definition at line 106 of file WalkerNavigation.h.

Referenced by AddWalker(), CheckIfWalkerExist(), GetRandomLocation(), RemoveWalker(), SetPedestriansCrossFactor(), SetPedestriansSeed(), SetWalkerMaxSpeed(), SetWalkerTarget(), Tick(), UpdateVehiclesInCrowd(), and WalkerNavigation().

◆ _next_check_index

unsigned long carla::client::detail::WalkerNavigation::_next_check_index

private

Definition at line 102 of file WalkerNavigation.h.

Referenced by CheckIfWalkerExist().

◆ _server_side

const bool carla::client::detail::WalkerNavigation::_server_side

private

Definition at line 104 of file WalkerNavigation.h.

Referenced by IsServerSide(), Tick(), and WalkerNavigation().

◆ _simulator

std::weak_ptr<Simulator> carla::client::detail::WalkerNavigation::_simulator

private

Definition at line 100 of file WalkerNavigation.h.

Referenced by CheckIfWalkerExist(), Tick(), UpdateVehiclesInCrowd(), and WalkerNavigation().

◆ _walkers

AtomicList<WalkerHandle> carla::client::detail::WalkerNavigation::_walkers

private

Definition at line 113 of file WalkerNavigation.h.

Referenced by RegisterWalker(), Tick(), and UnregisterWalker().

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WalkerNavigation()

Member Function Documentation

◆ AddWalker()

◆ CheckIfWalkerExist()

◆ GetRandomLocation()

◆ IsServerSide()

◆ RegisterWalker()

◆ RemoveWalker()

◆ SetPedestriansCrossFactor()

◆ SetPedestriansSeed()

◆ SetWalkerMaxSpeed()

◆ SetWalkerTarget()

◆ Tick()

◆ UnregisterWalker()

◆ UpdateVehiclesInCrowd()

Member Data Documentation

◆ _nav

◆ _next_check_index

◆ _server_side

◆ _simulator

◆ _walkers