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Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
carla::traffic_manager::ALSM Class Reference

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...

#include <ALSM.h>

Public Member Functions

void AddActor (const Actor actor)
 
 ALSM (AtomicActorSet &registered_vehicles, BufferMap &buffer_map, TrackTraffic &track_traffic, std::vector< ActorId > &marked_for_removal, const Parameters &parameters, const cc::World &world, const LocalMapPtr &local_map, SimulationState &simulation_state, std::unordered_map< ActorId, std::pair< float, bool > > &large_vehicles, LocalizationStage &localization_stage, CollisionStage &collision_stage, TrafficLightStage &traffic_light_stage, MotionPlanStage &motion_plan_stage, VehicleLightStage &vehicle_light_stage)
 
void RemoveActor (const ActorId actor_id, const bool registered_actor)
 
void Reset ()
 
void Update ()
 

Private Types

using DestroyeddActors = std::pair< ActorIdSet, ActorIdSet >
 
using IdleInfo = std::pair< ActorId, double >
 

Private Member Functions

DestroyeddActors IdentifyDestroyedActors (const ActorList &actor_list)
 
void IdentifyNewActors (const ActorList &actor_list)
 
bool IsVehicleStuck (const ActorId &actor_id)
 
void UpdateData (const bool hybrid_physics_mode, const Actor &vehicle, const bool hero_actor_present, const float physics_radius_square)
 
void UpdateIdleTime (std::pair< ActorId, double > &max_idle_time, const ActorId &actor_id)
 
void UpdateRegisteredActorsData (const bool hybrid_physics_mode, IdleInfo &max_idle_time)
 
void UpdateUnregisteredActorsData ()
 

Private Attributes

BufferMap & buffer_map
 
CollisionStage & collision_stage
 
cc::Timestamp current_timestamp
 
double elapsed_last_actor_destruction {0.0}
 
std::unordered_map< ActorId, bool > has_physics_enabled
 
ActorMap hero_actors
 
IdleTimeMap idle_time
 
std::unordered_map< ActorId, std::pair< float, bool > > & large_vehicles
 
const LocalMapPtr & local_map
 
LocalizationStage & localization_stage
 
std::vector< ActorId > & marked_for_removal
 
MotionPlanStage & motion_plan_stage
 
const Parameters & parameters
 
AtomicActorSet & registered_vehicles
 
SimulationState & simulation_state
 
TrackTraffic & track_traffic
 
TrafficLightStage & traffic_light_stage
 
ActorMap unregistered_actors
 
VehicleLightStage & vehicle_light_stage
 
const cc::World & world
 

Static Private Attributes

static constexpr std::array< std::string_view, 2 > large_vehicle_types {"bus", "truck"}
 

Detailed Description

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.

Definition at line 43 of file ALSM.h.

Member Typedef Documentation

◆ DestroyeddActors

using carla::traffic_manager::ALSM::DestroyeddActors = std::pair<ActorIdSet, ActorIdSet>
private

Definition at line 83 of file ALSM.h.

◆ IdleInfo

using carla::traffic_manager::ALSM::IdleInfo = std::pair<ActorId, double>
private

Definition at line 88 of file ALSM.h.

Constructor & Destructor Documentation

◆ ALSM()

carla::traffic_manager::ALSM::ALSM ( AtomicActorSet &  registered_vehicles,
BufferMap &  buffer_map,
TrackTraffic &  track_traffic,
std::vector< ActorId > &  marked_for_removal,
const Parameters &  parameters,
const cc::World &  world,
const LocalMapPtr &  local_map,
SimulationState &  simulation_state,
std::unordered_map< ActorId, std::pair< float, bool > > &  large_vehicles,
LocalizationStage &  localization_stage,
CollisionStage &  collision_stage,
TrafficLightStage &  traffic_light_stage,
MotionPlanStage &  motion_plan_stage,
VehicleLightStage &  vehicle_light_stage 
)

Definition at line 22 of file ALSM.cpp.

Member Function Documentation

◆ AddActor()

void carla::traffic_manager::ALSM::AddActor ( const Actor  actor)

Definition at line 412 of file ALSM.cpp.

References large_vehicle_types, and large_vehicles.

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

◆ IdentifyDestroyedActors()

ALSM::DestroyeddActors carla::traffic_manager::ALSM::IdentifyDestroyedActors ( const ActorList &  actor_list)
private

Definition at line 144 of file ALSM.cpp.

References carla::traffic_manager::AtomicActorSet::Contains(), carla::traffic_manager::AtomicActorSet::GetIDList(), registered_vehicles, and unregistered_actors.

Referenced by Update().

◆ IdentifyNewActors()

void carla::traffic_manager::ALSM::IdentifyNewActors ( const ActorList &  actor_list)
private

Definition at line 122 of file ALSM.cpp.

References carla::traffic_manager::AtomicActorSet::Contains(), hero_actors, registered_vehicles, and unregistered_actors.

Referenced by Update().

◆ IsVehicleStuck()

bool carla::traffic_manager::ALSM::IsVehicleStuck ( const ActorId &  actor_id)
private

Definition at line 399 of file ALSM.cpp.

References carla::traffic_manager::constants::VehicleRemoval::BLOCKED_TIME_THRESHOLD, current_timestamp, carla::client::Timestamp::elapsed_seconds, carla::traffic_manager::SimulationState::GetTLS(), idle_time, carla::traffic_manager::constants::VehicleRemoval::RED_TL_BLOCKED_TIME_THRESHOLD, simulation_state, and carla::traffic_manager::TrafficLightState::tl_state.

Referenced by Update().

◆ RemoveActor()

void carla::traffic_manager::ALSM::RemoveActor ( const ActorId  actor_id,
const bool  registered_actor 
)

Definition at line 438 of file ALSM.cpp.

References buffer_map, collision_stage, carla::traffic_manager::TrackTraffic::DeleteActor(), hero_actors, idle_time, large_vehicles, localization_stage, motion_plan_stage, registered_vehicles, carla::traffic_manager::AtomicActorSet::Remove(), carla::traffic_manager::SimulationState::RemoveActor(), carla::traffic_manager::MotionPlanStage::RemoveActor(), carla::traffic_manager::CollisionStage::RemoveActor(), carla::traffic_manager::LocalizationStage::RemoveActor(), carla::traffic_manager::TrafficLightStage::RemoveActor(), carla::traffic_manager::VehicleLightStage::RemoveActor(), simulation_state, track_traffic, traffic_light_stage, unregistered_actors, and vehicle_light_stage.

Referenced by carla::traffic_manager::TrafficManagerLocal::UnregisterVehicles(), Update(), and UpdateRegisteredActorsData().

◆ Reset()

void carla::traffic_manager::ALSM::Reset ( )

Definition at line 460 of file ALSM.cpp.

References current_timestamp, elapsed_last_actor_destruction, carla::client::World::GetSnapshot(), carla::client::WorldSnapshot::GetTimestamp(), hero_actors, idle_time, unregistered_actors, and world.

◆ Update()

void carla::traffic_manager::ALSM::Update ( )

Definition at line 52 of file ALSM.cpp.

References current_timestamp, carla::traffic_manager::constants::VehicleRemoval::DELTA_TIME_BETWEEN_DESTRUCTIONS, carla::traffic_manager::AtomicActorSet::Destroy(), elapsed_last_actor_destruction, carla::client::Timestamp::elapsed_seconds, carla::client::World::GetActors(), carla::traffic_manager::Parameters::GetHybridPhysicsMode(), carla::traffic_manager::Parameters::GetOSMMode(), carla::client::World::GetSnapshot(), carla::client::WorldSnapshot::GetTimestamp(), hero_actors, IdentifyDestroyedActors(), IdentifyNewActors(), IsVehicleStuck(), marked_for_removal, parameters, registered_vehicles, RemoveActor(), UpdateRegisteredActorsData(), UpdateUnregisteredActorsData(), and world.

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

◆ UpdateData()

void carla::traffic_manager::ALSM::UpdateData ( const bool  hybrid_physics_mode,
const Actor &  vehicle,
const bool  hero_actor_present,
const float  physics_radius_square 
)
private

Definition at line 223 of file ALSM.cpp.

References carla::traffic_manager::SimulationState::AddActor(), carla::traffic_manager::SimulationState::ContainsActor(), current_timestamp, carla::client::Timestamp::elapsed_seconds, carla::traffic_manager::SimulationState::GetHybridEndLocation(), carla::traffic_manager::SimulationState::GetLocation(), carla::traffic_manager::SimulationState::GetVelocity(), has_physics_enabled, hero_actors, idle_time, carla::traffic_manager::constants::HybridMode::INV_HYBRID_DT, carla::traffic_manager::SimulationState::IsPhysicsEnabled(), carla::geom::Transform::location, carla::geom::Transform::rotation, simulation_state, carla::traffic_manager::SimulationState::UpdateKinematicState(), carla::traffic_manager::SimulationState::UpdateTrafficLightState(), carla::traffic_manager::Vehicle, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by UpdateRegisteredActorsData().

◆ UpdateIdleTime()

void carla::traffic_manager::ALSM::UpdateIdleTime ( std::pair< ActorId, double > &  max_idle_time,
const ActorId &  actor_id 
)
private

Definition at line 385 of file ALSM.cpp.

References current_timestamp, carla::client::Timestamp::elapsed_seconds, carla::traffic_manager::SimulationState::GetVelocity(), idle_time, simulation_state, SQUARE, carla::geom::Vector3D::SquaredLength(), and carla::traffic_manager::constants::VehicleRemoval::STOPPED_VELOCITY_THRESHOLD.

Referenced by UpdateRegisteredActorsData().

◆ UpdateRegisteredActorsData()

void carla::traffic_manager::ALSM::UpdateRegisteredActorsData ( const bool  hybrid_physics_mode,
ALSM::IdleInfo &  max_idle_time 
)
private

Definition at line 176 of file ALSM.cpp.

References carla::traffic_manager::Parameters::GetHybridPhysicsRadius(), carla::traffic_manager::AtomicActorSet::GetList(), carla::traffic_manager::Parameters::GetRespawnDormantVehicles(), hero_actors, carla::log_debug(), parameters, registered_vehicles, RemoveActor(), carla::traffic_manager::TrackTraffic::SetHeroLocation(), SQUARE, track_traffic, UpdateData(), and UpdateIdleTime().

Referenced by Update().

◆ UpdateUnregisteredActorsData()

void carla::traffic_manager::ALSM::UpdateUnregisteredActorsData ( )
private

Definition at line 311 of file ALSM.cpp.

References carla::traffic_manager::SimulationState::AddActor(), carla::traffic_manager::Any, carla::traffic_manager::SimulationState::ContainsActor(), local_map, carla::geom::Transform::location, carla::traffic_manager::Pedestrian, carla::geom::Transform::rotation, simulation_state, track_traffic, unregistered_actors, carla::traffic_manager::SimulationState::UpdateKinematicState(), carla::traffic_manager::SimulationState::UpdateTrafficLightState(), carla::traffic_manager::TrackTraffic::UpdateUnregisteredGridPosition(), carla::traffic_manager::Vehicle, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by Update().

Member Data Documentation

◆ buffer_map

BufferMap& carla::traffic_manager::ALSM::buffer_map
private

Definition at line 49 of file ALSM.h.

Referenced by RemoveActor().

◆ collision_stage

CollisionStage& carla::traffic_manager::ALSM::collision_stage
private

Definition at line 62 of file ALSM.h.

Referenced by RemoveActor().

◆ current_timestamp

cc::Timestamp carla::traffic_manager::ALSM::current_timestamp
private

Definition at line 68 of file ALSM.h.

Referenced by IsVehicleStuck(), Reset(), Update(), UpdateData(), and UpdateIdleTime().

◆ elapsed_last_actor_destruction

double carla::traffic_manager::ALSM::elapsed_last_actor_destruction {0.0}
private

Definition at line 67 of file ALSM.h.

Referenced by Reset(), and Update().

◆ has_physics_enabled

std::unordered_map<ActorId, bool> carla::traffic_manager::ALSM::has_physics_enabled
private

Definition at line 69 of file ALSM.h.

Referenced by UpdateData().

◆ hero_actors

ActorMap carla::traffic_manager::ALSM::hero_actors
private

Definition at line 53 of file ALSM.h.

Referenced by IdentifyNewActors(), RemoveActor(), Reset(), Update(), UpdateData(), and UpdateRegisteredActorsData().

◆ idle_time

IdleTimeMap carla::traffic_manager::ALSM::idle_time
private

Definition at line 51 of file ALSM.h.

Referenced by IsVehicleStuck(), RemoveActor(), Reset(), UpdateData(), and UpdateIdleTime().

◆ large_vehicle_types

constexpr std::array<std::string_view, 2> carla::traffic_manager::ALSM::large_vehicle_types {"bus", "truck"}
staticconstexprprivate

Definition at line 72 of file ALSM.h.

Referenced by AddActor().

◆ large_vehicles

std::unordered_map<ActorId, std::pair<float, bool> >& carla::traffic_manager::ALSM::large_vehicles
private

Definition at line 70 of file ALSM.h.

Referenced by AddActor(), and RemoveActor().

◆ local_map

const LocalMapPtr& carla::traffic_manager::ALSM::local_map
private

Definition at line 59 of file ALSM.h.

Referenced by UpdateUnregisteredActorsData().

◆ localization_stage

LocalizationStage& carla::traffic_manager::ALSM::localization_stage
private

Definition at line 61 of file ALSM.h.

Referenced by RemoveActor().

◆ marked_for_removal

std::vector<ActorId>& carla::traffic_manager::ALSM::marked_for_removal
private

Definition at line 56 of file ALSM.h.

Referenced by Update().

◆ motion_plan_stage

MotionPlanStage& carla::traffic_manager::ALSM::motion_plan_stage
private

Definition at line 64 of file ALSM.h.

Referenced by RemoveActor().

◆ parameters

const Parameters& carla::traffic_manager::ALSM::parameters
private

Definition at line 57 of file ALSM.h.

Referenced by Update(), and UpdateRegisteredActorsData().

◆ registered_vehicles

AtomicActorSet& carla::traffic_manager::ALSM::registered_vehicles
private

Definition at line 46 of file ALSM.h.

Referenced by IdentifyDestroyedActors(), IdentifyNewActors(), RemoveActor(), Update(), and UpdateRegisteredActorsData().

◆ simulation_state

SimulationState& carla::traffic_manager::ALSM::simulation_state
private

Definition at line 60 of file ALSM.h.

Referenced by IsVehicleStuck(), RemoveActor(), UpdateData(), UpdateIdleTime(), and UpdateUnregisteredActorsData().

◆ track_traffic

TrackTraffic& carla::traffic_manager::ALSM::track_traffic
private

Definition at line 54 of file ALSM.h.

Referenced by RemoveActor(), UpdateRegisteredActorsData(), and UpdateUnregisteredActorsData().

◆ traffic_light_stage

TrafficLightStage& carla::traffic_manager::ALSM::traffic_light_stage
private

Definition at line 63 of file ALSM.h.

Referenced by RemoveActor().

◆ unregistered_actors

ActorMap carla::traffic_manager::ALSM::unregistered_actors
private

Definition at line 48 of file ALSM.h.

Referenced by IdentifyDestroyedActors(), IdentifyNewActors(), RemoveActor(), Reset(), and UpdateUnregisteredActorsData().

◆ vehicle_light_stage

VehicleLightStage& carla::traffic_manager::ALSM::vehicle_light_stage
private

Definition at line 65 of file ALSM.h.

Referenced by RemoveActor().

◆ world

const cc::World& carla::traffic_manager::ALSM::world
private

Definition at line 58 of file ALSM.h.

Referenced by Reset(), and Update().

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