CARLA: carla::traffic_manager::TrackTraffic Class Reference

CARLA

#include <TrackTraffic.h>

Collaboration diagram for carla::traffic_manager::TrackTraffic:

Public Member Functions
void	AddTakenGrid (const GeoGridId geogrid_id, const ActorId actor_id)

void	Clear ()

void	DeleteActor (ActorId actor_id)
	Method to delete actor data from tracking. More...

cg::Location	GetHeroLocation () const

ActorIdSet	GetOverlappingVehicles (ActorId actor_id) const

ActorIdSet	GetPassingVehicles (uint64_t waypoint_id) const

bool	IsGeoGridFree (const GeoGridId geogrid_id) const

void	RemovePassingVehicle (uint64_t waypoint_id, ActorId actor_id)

void	SetHeroLocation (const cg::Location location)

	TrackTraffic ()

void	UpdateGridPosition (const ActorId actor_id, const Buffer &buffer)

void	UpdatePassingVehicle (uint64_t waypoint_id, ActorId actor_id)
	Methods to update, remove and retrieve vehicles passing through a waypoint. More...

void	UpdateUnregisteredGridPosition (const ActorId actor_id, const std::vector< SimpleWaypointPtr > waypoints)

Private Types
using	WaypointIdSet = std::unordered_set< uint64_t >
	Structure to keep track of waypoints occupied by vehicles;. More...

using	WaypointOccupancyMap = std::unordered_map< ActorId, WaypointIdSet >

using	WaypointOverlap = std::unordered_map< uint64_t, ActorIdSet >
	Structure to keep track of overlapping waypoints between vehicles. More...

Private Attributes
std::unordered_map< ActorId, std::unordered_set< GeoGridId > >	actor_to_grids
	Geodesic grids occupied by actors's paths. More...

std::unordered_map< GeoGridId, ActorIdSet >	grid_to_actors
	Actors currently passing through grids. More...

cg::Location	hero_location = cg::Location(0,0,0)
	Current hero location. More...

WaypointOccupancyMap	waypoint_occupied

WaypointOverlap	waypoint_overlap_tracker

Detailed Description

Definition at line 19 of file TrackTraffic.h.

Member Typedef Documentation

◆ WaypointIdSet

using carla::traffic_manager::TrackTraffic::WaypointIdSet = std::unordered_set<uint64_t>

private

Structure to keep track of waypoints occupied by vehicles;.

Definition at line 27 of file TrackTraffic.h.

◆ WaypointOccupancyMap

using carla::traffic_manager::TrackTraffic::WaypointOccupancyMap = std::unordered_map<ActorId, WaypointIdSet>

private

Definition at line 28 of file TrackTraffic.h.

◆ WaypointOverlap

using carla::traffic_manager::TrackTraffic::WaypointOverlap = std::unordered_map<uint64_t, ActorIdSet>

private

Structure to keep track of overlapping waypoints between vehicles.

Definition at line 23 of file TrackTraffic.h.

Constructor & Destructor Documentation

◆ TrackTraffic()

carla::traffic_manager::TrackTraffic::TrackTraffic ( )

Definition at line 12 of file TrackTraffic.cpp.

Member Function Documentation

◆ AddTakenGrid()

void carla::traffic_manager::TrackTraffic::AddTakenGrid	(	const GeoGridId	geogrid_id,
		const ActorId	actor_id
	)

Definition at line 86 of file TrackTraffic.cpp.

References grid_to_actors.

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

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◆ Clear()

void carla::traffic_manager::TrackTraffic::Clear ( void )

Definition at line 186 of file TrackTraffic.cpp.

References actor_to_grids, grid_to_actors, waypoint_occupied, and waypoint_overlap_tracker.

Referenced by carla::traffic_manager::TrafficManagerLocal::Stop().

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◆ DeleteActor()

void carla::traffic_manager::TrackTraffic::DeleteActor ( ActorId actor_id )

Method to delete actor data from tracking.

Definition at line 117 of file TrackTraffic.cpp.

References actor_to_grids, grid_to_actors, RemovePassingVehicle(), and waypoint_occupied.

Referenced by carla::traffic_manager::ALSM::RemoveActor(), and UpdateUnregisteredGridPosition().

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◆ GetHeroLocation()

cg::Location carla::traffic_manager::TrackTraffic::GetHeroLocation ( ) const

Definition at line 97 of file TrackTraffic.cpp.

References hero_location.

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

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◆ GetOverlappingVehicles()

ActorIdSet carla::traffic_manager::TrackTraffic::GetOverlappingVehicles ( ActorId actor_id ) const

Definition at line 101 of file TrackTraffic.cpp.

References actor_to_grids, and grid_to_actors.

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

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◆ GetPassingVehicles()

ActorIdSet carla::traffic_manager::TrackTraffic::GetPassingVehicles ( uint64_t waypoint_id ) const

Definition at line 177 of file TrackTraffic.cpp.

References waypoint_overlap_tracker.

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

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◆ IsGeoGridFree()

bool carla::traffic_manager::TrackTraffic::IsGeoGridFree ( const GeoGridId geogrid_id ) const

Definition at line 79 of file TrackTraffic.cpp.

References grid_to_actors.

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

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◆ RemovePassingVehicle()

void carla::traffic_manager::TrackTraffic::RemovePassingVehicle	(	uint64_t	waypoint_id,
		ActorId	actor_id
	)

Definition at line 157 of file TrackTraffic.cpp.

References waypoint_occupied, and waypoint_overlap_tracker.

Referenced by DeleteActor(), and carla::traffic_manager::PopWaypoint().

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◆ SetHeroLocation()

void carla::traffic_manager::TrackTraffic::SetHeroLocation ( const cg::Location location )

Definition at line 93 of file TrackTraffic.cpp.

References hero_location.

Referenced by carla::traffic_manager::ALSM::UpdateRegisteredActorsData().

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◆ UpdateGridPosition()

void carla::traffic_manager::TrackTraffic::UpdateGridPosition	(	const ActorId	actor_id,
		const Buffer &	buffer
	)

Definition at line 40 of file TrackTraffic.cpp.

References actor_to_grids, and grid_to_actors.

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

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◆ UpdatePassingVehicle()

void carla::traffic_manager::TrackTraffic::UpdatePassingVehicle	(	uint64_t	waypoint_id,
		ActorId	actor_id
	)

Methods to update, remove and retrieve vehicles passing through a waypoint.

Definition at line 137 of file TrackTraffic.cpp.

References waypoint_occupied, and waypoint_overlap_tracker.

Referenced by carla::traffic_manager::PushWaypoint(), and UpdateUnregisteredGridPosition().

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◆ UpdateUnregisteredGridPosition()

void carla::traffic_manager::TrackTraffic::UpdateUnregisteredGridPosition	(	const ActorId	actor_id,
		const std::vector< SimpleWaypointPtr >	waypoints
	)

Definition at line 14 of file TrackTraffic.cpp.

References actor_to_grids, DeleteActor(), grid_to_actors, and UpdatePassingVehicle().

Referenced by carla::traffic_manager::ALSM::UpdateUnregisteredActorsData().

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Member Data Documentation

◆ actor_to_grids

std::unordered_map<ActorId, std::unordered_set<GeoGridId> > carla::traffic_manager::TrackTraffic::actor_to_grids

private

Geodesic grids occupied by actors's paths.

Definition at line 32 of file TrackTraffic.h.

Referenced by Clear(), DeleteActor(), GetOverlappingVehicles(), UpdateGridPosition(), and UpdateUnregisteredGridPosition().

◆ grid_to_actors

std::unordered_map<GeoGridId, ActorIdSet> carla::traffic_manager::TrackTraffic::grid_to_actors

private

Actors currently passing through grids.

Definition at line 34 of file TrackTraffic.h.

Referenced by AddTakenGrid(), Clear(), DeleteActor(), GetOverlappingVehicles(), IsGeoGridFree(), UpdateGridPosition(), and UpdateUnregisteredGridPosition().

◆ hero_location

cg::Location carla::traffic_manager::TrackTraffic::hero_location = cg::Location(0,0,0)

private

Current hero location.

Definition at line 36 of file TrackTraffic.h.

Referenced by GetHeroLocation(), and SetHeroLocation().

◆ waypoint_occupied

WaypointOccupancyMap carla::traffic_manager::TrackTraffic::waypoint_occupied

private

Definition at line 29 of file TrackTraffic.h.

Referenced by Clear(), DeleteActor(), RemovePassingVehicle(), and UpdatePassingVehicle().

◆ waypoint_overlap_tracker

WaypointOverlap carla::traffic_manager::TrackTraffic::waypoint_overlap_tracker

private

Definition at line 24 of file TrackTraffic.h.

Referenced by Clear(), GetPassingVehicles(), RemovePassingVehicle(), and UpdatePassingVehicle().

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