C++ port of agents.navigation.basic_agent.BasicAgent. More...

#include <BasicAgent.h>

Inheritance diagram for carla::agents::navigation::BasicAgent:

Classes
struct	Options
	Tunable knobs. More...

struct	VehicleObstacle

Public Member Functions
rpc::VehicleControl	AddEmergencyStop (rpc::VehicleControl c) const
	Overwrites throttle/brake to perform an emergency stop.

	BasicAgent (SharedPtr< client::Vehicle > vehicle, float target_speed_kmh=20.0f, const Options &options=DefaultOptions(), SharedPtr< client::Map > map=nullptr, SharedPtr< GlobalRoutePlanner > grp=nullptr)

bool	Done () const

void	FollowSpeedLimits (bool value=true)

GlobalRoutePlanner *	GetGlobalPlanner ()

LocalPlanner *	GetLocalPlanner ()

void	IgnoreStopSigns (bool active=true)

void	IgnoreTrafficLights (bool active=true)

void	IgnoreVehicles (bool active=true)

void	LaneChange (const std::string &direction, float same_lane_time=0.0f, float other_lane_time=0.0f, float lane_change_time=2.0f)
	Replaces the current plan with one that performs a lane change.

virtual rpc::VehicleControl	RunStep ()

void	SetDestination (const geom::Location &end, std::optional< geom::Location > start=std::nullopt)
	Computes a route from `start` (or the current target waypoint) to `end` and forwards it to the local planner.

void	SetGlobalPlan (const std::vector< LocalPlanner::PlanItem > &plan, bool stop_waypoint_creation=true, bool clean_queue=true)

void	SetOffset (float offset)

void	SetTargetSpeed (float speed_kmh)

std::vector< LocalPlanner::PlanItem >	TraceRoute (SharedPtr< client::Waypoint > start, SharedPtr< client::Waypoint > end)

virtual	~BasicAgent ()=default

Static Public Member Functions
static Options	DefaultOptions ()
	Out-of-line default factory; see LocalPlanner::DefaultOptions().

Protected Member Functions
std::pair< bool, SharedPtr< client::TrafficLight > >	AffectedByTrafficLight (SharedPtr< client::ActorList > lights=nullptr, std::optional< float > max_distance=std::nullopt)
	Returns (affected, light) similar to Python `_affected_by_traffic_light`.

std::vector< LocalPlanner::PlanItem >	GenerateLaneChangePath (SharedPtr< client::Waypoint > waypoint, const std::string &direction="left", float distance_same_lane=10.0f, float distance_other_lane=25.0f, float lane_change_distance=25.0f, bool check=true, int lane_changes=1, float step_distance=2.0f)
	Mirrors Python `_generate_lane_change_path`.

VehicleObstacle	VehicleObstacleDetected (SharedPtr< client::ActorList > vehicles=nullptr, std::optional< float > max_distance=std::nullopt, float up_angle_th=90.0f, float low_angle_th=0.0f, int lane_offset=0)
	Mirrors Python `_vehicle_obstacle_detected`.

Protected Attributes
float	_base_tlight_threshold

float	_base_vehicle_threshold

SharedPtr< GlobalRoutePlanner >	_global_planner

bool	_ignore_stop_signs

bool	_ignore_traffic_lights

bool	_ignore_vehicles

SharedPtr< client::TrafficLight >	_last_traffic_light

SharedPtr< client::ActorList >	_lights_list

std::unordered_map< uint32_t, SharedPtr< client::Waypoint > >	_lights_map

std::unique_ptr< LocalPlanner >	_local_planner

SharedPtr< client::Map >	_map

float	_max_brake

float	_offset

float	_sampling_resolution

float	_speed_ratio

float	_target_speed

bool	_use_bbs_detection

SharedPtr< client::Vehicle >	_vehicle

SharedPtr< client::World >	_world

Detailed Description

C++ port of agents.navigation.basic_agent.BasicAgent.

Roams the scene following random or scripted waypoints while obeying traffic lights and avoiding other vehicles. Stop signs are ignored.

Definition at line 44 of file BasicAgent.h.

Constructor & Destructor Documentation

◆ BasicAgent()

carla::agents::navigation::BasicAgent::BasicAgent	(	SharedPtr< client::Vehicle >	vehicle,
		float	target_speed_kmh = `20.0f`,
		const Options &	options = `DefaultOptions()`,
		SharedPtr< client::Map >	map = `nullptr`,
		SharedPtr< GlobalRoutePlanner >	grp = `nullptr`
	)

Definition at line 63 of file BasicAgent.cpp.

References _global_planner, _lights_list, _local_planner, _map, _sampling_resolution, _vehicle, _world, and carla::agents::navigation::LocalPlanner::Options::target_speed.

◆ ~BasicAgent()

virtual carla::agents::navigation::BasicAgent::~BasicAgent ( )

virtualdefault

Member Function Documentation

◆ AddEmergencyStop()

rpc::VehicleControl carla::agents::navigation::BasicAgent::AddEmergencyStop ( rpc::VehicleControl c ) const

Overwrites throttle/brake to perform an emergency stop.

Steering is left intact so the agent doesn't drift mid-turn.

Definition at line 108 of file BasicAgent.cpp.

References _max_brake, carla::rpc::VehicleControl::brake, carla::rpc::VehicleControl::hand_brake, and carla::rpc::VehicleControl::throttle.

Referenced by RunStep().

◆ AffectedByTrafficLight()

std::pair< bool, SharedPtr< client::TrafficLight > > carla::agents::navigation::BasicAgent::AffectedByTrafficLight	(	SharedPtr< client::ActorList >	lights = `nullptr`,
		std::optional< float >	max_distance = `std::nullopt`
	)

protected

Returns (affected, light) similar to Python _affected_by_traffic_light.

lights may be null — in which case all traffic_light actors are pulled from the world. max_distance defaults to _base_tlight_threshold.

Definition at line 242 of file BasicAgent.cpp.

References _base_tlight_threshold, _ignore_traffic_lights, _last_traffic_light, _lights_map, _map, _vehicle, _world, carla::agents::navigation::GetTrafficLightTriggerLocation(), carla::agents::navigation::IsWithinDistance(), and carla::rpc::Red.

Referenced by RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), and carla::agents::navigation::BehaviorAgent::TrafficLightManager().

◆ DefaultOptions()

BasicAgent::Options carla::agents::navigation::BasicAgent::DefaultOptions ( )

inlinestatic

Out-of-line default factory; see LocalPlanner::DefaultOptions().

Definition at line 171 of file BasicAgent.h.

Referenced by TEST().

◆ Done()

bool carla::agents::navigation::BasicAgent::Done ( ) const

Definition at line 206 of file BasicAgent.cpp.

References _local_planner.

◆ FollowSpeedLimits()

void carla::agents::navigation::BasicAgent::FollowSpeedLimits ( bool value = true )

Definition at line 120 of file BasicAgent.cpp.

References _local_planner.

◆ GenerateLaneChangePath()

std::vector< LocalPlanner::PlanItem > carla::agents::navigation::BasicAgent::GenerateLaneChangePath	(	SharedPtr< client::Waypoint >	waypoint,
		const std::string &	direction = `"left"`,
		float	distance_same_lane = `10.0f`,
		float	distance_other_lane = `25.0f`,
		float	lane_change_distance = `25.0f`,
		bool	check = `true`,
		int	lane_changes = `1`,
		float	step_distance = `2.0f`
	)

protected

Mirrors Python _generate_lane_change_path.

Returns an empty vector if no valid path exists.

Definition at line 487 of file BasicAgent.cpp.

References carla::agents::navigation::ChangeLaneLeft, carla::agents::navigation::ChangeLaneRight, distance, and carla::agents::navigation::LaneFollow.

Referenced by LaneChange().

◆ GetGlobalPlanner()

GlobalRoutePlanner * carla::agents::navigation::BasicAgent::GetGlobalPlanner ( )

Definition at line 128 of file BasicAgent.cpp.

References _global_planner.

◆ GetLocalPlanner()

LocalPlanner * carla::agents::navigation::BasicAgent::GetLocalPlanner ( )

Definition at line 124 of file BasicAgent.cpp.

References _local_planner.

◆ IgnoreStopSigns()

void carla::agents::navigation::BasicAgent::IgnoreStopSigns ( bool active = true )

Definition at line 211 of file BasicAgent.cpp.

References _ignore_stop_signs.

◆ IgnoreTrafficLights()

void carla::agents::navigation::BasicAgent::IgnoreTrafficLights ( bool active = true )

Definition at line 210 of file BasicAgent.cpp.

References _ignore_traffic_lights.

◆ IgnoreVehicles()

void carla::agents::navigation::BasicAgent::IgnoreVehicles ( bool active = true )

Definition at line 212 of file BasicAgent.cpp.

References _ignore_vehicles.

◆ LaneChange()

void carla::agents::navigation::BasicAgent::LaneChange	(	const std::string &	direction,
		float	same_lane_time = `0.0f`,
		float	other_lane_time = `0.0f`,
		float	lane_change_time = `2.0f`
	)

Replaces the current plan with one that performs a lane change.

direction must be "left" or "right".

Definition at line 218 of file BasicAgent.cpp.

References _map, _sampling_resolution, _vehicle, GenerateLaneChangePath(), and SetGlobalPlan().

◆ RunStep()

rpc::VehicleControl carla::agents::navigation::BasicAgent::RunStep ( )

virtual

Reimplemented in carla::agents::navigation::BehaviorAgent, and carla::agents::navigation::ConstantVelocityAgent.

Definition at line 175 of file BasicAgent.cpp.

References _base_tlight_threshold, _base_vehicle_threshold, _lights_list, _local_planner, _speed_ratio, _vehicle, _world, AddEmergencyStop(), AffectedByTrafficLight(), carla::agents::navigation::GetSpeed(), and VehicleObstacleDetected().

Referenced by carla::agents::navigation::ConstantVelocityAgent::RunStep().

◆ SetDestination()

void carla::agents::navigation::BasicAgent::SetDestination	(	const geom::Location &	end,
		std::optional< geom::Location >	start = `std::nullopt`
	)

Computes a route from start (or the current target waypoint) to end and forwards it to the local planner.

Definition at line 132 of file BasicAgent.cpp.

References _local_planner, _map, _vehicle, and TraceRoute().

Referenced by carla::agents::navigation::BehaviorAgent::Tailgating().

◆ SetGlobalPlan()

void carla::agents::navigation::BasicAgent::SetGlobalPlan	(	const std::vector< LocalPlanner::PlanItem > &	plan,
		bool	stop_waypoint_creation = `true`,
		bool	clean_queue = `true`
	)

Definition at line 160 of file BasicAgent.cpp.

References _local_planner.

Referenced by LaneChange().

◆ SetOffset()

void carla::agents::navigation::BasicAgent::SetOffset ( float offset )

Definition at line 214 of file BasicAgent.cpp.

References _local_planner.

◆ SetTargetSpeed()

void carla::agents::navigation::BasicAgent::SetTargetSpeed ( float speed_kmh )

Definition at line 115 of file BasicAgent.cpp.

References _local_planner, and _target_speed.

◆ TraceRoute()

std::vector< LocalPlanner::PlanItem > carla::agents::navigation::BasicAgent::TraceRoute	(	SharedPtr< client::Waypoint >	start,
		SharedPtr< client::Waypoint >	end
	)

Definition at line 167 of file BasicAgent.cpp.

References _global_planner.

Referenced by SetDestination().

◆ VehicleObstacleDetected()

BasicAgent::VehicleObstacle carla::agents::navigation::BasicAgent::VehicleObstacleDetected	(	SharedPtr< client::ActorList >	vehicles = `nullptr`,
		std::optional< float >	max_distance = `std::nullopt`,
		float	up_angle_th = `90.0f`,
		float	low_angle_th = `0.0f`,
		int	lane_offset = `0`
	)

protected

Mirrors Python _vehicle_obstacle_detected.

Definition at line 331 of file BasicAgent.cpp.

References _base_vehicle_threshold, _ignore_vehicles, _local_planner, _map, _offset, _use_bbs_detection, _vehicle, _world, carla::agents::navigation::BasicAgent::VehicleObstacle::actor, carla::agents::navigation::BasicAgent::VehicleObstacle::affected, carla::agents::navigation::ComputeDistance(), carla::agents::navigation::BasicAgent::VehicleObstacle::distance, carla::geom::Transform::GetForwardVector(), carla::agents::navigation::IsWithinDistance(), carla::geom::Transform::location, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::agents::navigation::BehaviorAgent::CollisionAndCarAvoidManager(), carla::agents::navigation::BehaviorAgent::PedestrianAvoidManager(), RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), and carla::agents::navigation::BehaviorAgent::Tailgating().

Member Data Documentation

◆ _base_tlight_threshold

float carla::agents::navigation::BasicAgent::_base_tlight_threshold

protected

Definition at line 164 of file BasicAgent.h.

Referenced by AffectedByTrafficLight(), RunStep(), and carla::agents::navigation::ConstantVelocityAgent::RunStep().

◆ _base_vehicle_threshold

float carla::agents::navigation::BasicAgent::_base_vehicle_threshold

protected

Definition at line 165 of file BasicAgent.h.

Referenced by RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), and VehicleObstacleDetected().

◆ _global_planner

SharedPtr<GlobalRoutePlanner> carla::agents::navigation::BasicAgent::_global_planner

protected

Definition at line 154 of file BasicAgent.h.

Referenced by BasicAgent(), GetGlobalPlanner(), and TraceRoute().

◆ _ignore_stop_signs

bool carla::agents::navigation::BasicAgent::_ignore_stop_signs

protected

Definition at line 159 of file BasicAgent.h.

Referenced by IgnoreStopSigns().

◆ _ignore_traffic_lights

bool carla::agents::navigation::BasicAgent::_ignore_traffic_lights

protected

Definition at line 158 of file BasicAgent.h.

Referenced by AffectedByTrafficLight(), and IgnoreTrafficLights().

◆ _ignore_vehicles

bool carla::agents::navigation::BasicAgent::_ignore_vehicles

protected

Definition at line 160 of file BasicAgent.h.

Referenced by IgnoreVehicles(), and VehicleObstacleDetected().

◆ _last_traffic_light

SharedPtr<client::TrafficLight> carla::agents::navigation::BasicAgent::_last_traffic_light

protected

Definition at line 152 of file BasicAgent.h.

Referenced by AffectedByTrafficLight().

◆ _lights_list

SharedPtr<client::ActorList> carla::agents::navigation::BasicAgent::_lights_list

protected

Definition at line 155 of file BasicAgent.h.

Referenced by BasicAgent(), and RunStep().

◆ _lights_map

std::unordered_map<uint32_t, SharedPtr<client::Waypoint> > carla::agents::navigation::BasicAgent::_lights_map

protected

Definition at line 156 of file BasicAgent.h.

Referenced by AffectedByTrafficLight().

◆ _local_planner

std::unique_ptr<LocalPlanner> carla::agents::navigation::BasicAgent::_local_planner

protected

Definition at line 153 of file BasicAgent.h.

Referenced by BasicAgent(), carla::agents::navigation::BehaviorAgent::CarFollowingManager(), Done(), FollowSpeedLimits(), GetLocalPlanner(), RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), carla::agents::navigation::BehaviorAgent::RunStep(), SetDestination(), SetGlobalPlan(), SetOffset(), SetTargetSpeed(), carla::agents::navigation::ConstantVelocityAgent::SetTargetSpeed(), carla::agents::navigation::BehaviorAgent::Tailgating(), carla::agents::navigation::BehaviorAgent::UpdateInformation(), and VehicleObstacleDetected().

◆ _map

SharedPtr<client::Map> carla::agents::navigation::BasicAgent::_map

protected

Definition at line 151 of file BasicAgent.h.

Referenced by AffectedByTrafficLight(), BasicAgent(), LaneChange(), carla::agents::navigation::BehaviorAgent::RunStep(), SetDestination(), and VehicleObstacleDetected().

◆ _max_brake

float carla::agents::navigation::BasicAgent::_max_brake

protected

Definition at line 167 of file BasicAgent.h.

Referenced by AddEmergencyStop(), and carla::agents::navigation::BehaviorAgent::EmergencyStop().

◆ _offset

float carla::agents::navigation::BasicAgent::_offset

protected

Definition at line 168 of file BasicAgent.h.

Referenced by VehicleObstacleDetected().

◆ _sampling_resolution

float carla::agents::navigation::BasicAgent::_sampling_resolution

protected

Definition at line 163 of file BasicAgent.h.

Referenced by BasicAgent(), carla::agents::navigation::BehaviorAgent::BehaviorAgent(), and LaneChange().

◆ _speed_ratio

float carla::agents::navigation::BasicAgent::_speed_ratio

protected

Definition at line 166 of file BasicAgent.h.

Referenced by RunStep().

◆ _target_speed

float carla::agents::navigation::BasicAgent::_target_speed

protected

Definition at line 162 of file BasicAgent.h.

Referenced by SetTargetSpeed().

◆ _use_bbs_detection

bool carla::agents::navigation::BasicAgent::_use_bbs_detection

protected

Definition at line 161 of file BasicAgent.h.

Referenced by VehicleObstacleDetected().

◆ _vehicle

SharedPtr<client::Vehicle> carla::agents::navigation::BasicAgent::_vehicle

protected

Definition at line 149 of file BasicAgent.h.

Referenced by AffectedByTrafficLight(), BasicAgent(), LaneChange(), RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), carla::agents::navigation::BehaviorAgent::RunStep(), carla::agents::navigation::ConstantVelocityAgent::SetCollisionSensor(), carla::agents::navigation::ConstantVelocityAgent::SetConstantVelocity(), SetDestination(), carla::agents::navigation::ConstantVelocityAgent::StopConstantVelocity(), carla::agents::navigation::BehaviorAgent::UpdateInformation(), and VehicleObstacleDetected().

◆ _world

SharedPtr<client::World> carla::agents::navigation::BasicAgent::_world

protected

Definition at line 150 of file BasicAgent.h.

Referenced by AffectedByTrafficLight(), BasicAgent(), carla::agents::navigation::BehaviorAgent::CollisionAndCarAvoidManager(), carla::agents::navigation::BehaviorAgent::PedestrianAvoidManager(), RunStep(), carla::agents::navigation::ConstantVelocityAgent::RunStep(), carla::agents::navigation::ConstantVelocityAgent::SetCollisionSensor(), carla::agents::navigation::ConstantVelocityAgent::StopConstantVelocity(), carla::agents::navigation::BehaviorAgent::Tailgating(), carla::agents::navigation::BehaviorAgent::TrafficLightManager(), and VehicleObstacleDetected().

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BasicAgent()

◆ ~BasicAgent()

Member Function Documentation

◆ AddEmergencyStop()

◆ AffectedByTrafficLight()

◆ DefaultOptions()

◆ Done()

◆ FollowSpeedLimits()

◆ GenerateLaneChangePath()

◆ GetGlobalPlanner()

◆ GetLocalPlanner()

◆ IgnoreStopSigns()

◆ IgnoreTrafficLights()

◆ IgnoreVehicles()

◆ LaneChange()

◆ RunStep()

◆ SetDestination()

◆ SetGlobalPlan()

◆ SetOffset()

◆ SetTargetSpeed()

◆ TraceRoute()

◆ VehicleObstacleDetected()

Member Data Documentation

◆ _base_tlight_threshold

◆ _base_vehicle_threshold

◆ _global_planner

◆ _ignore_stop_signs

◆ _ignore_traffic_lights

◆ _ignore_vehicles

◆ _last_traffic_light

◆ _lights_list

◆ _lights_map

◆ _local_planner

◆ _map

◆ _max_brake

◆ _offset

◆ _sampling_resolution

◆ _speed_ratio

◆ _target_speed

◆ _use_bbs_detection

◆ _vehicle

◆ _world