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>

Collaboration diagram for carla::traffic_manager::ALSM:

Public Member Functions
	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, 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

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

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 41 of file ALSM.h.

Member Typedef Documentation

◆ DestroyeddActors

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

private

Definition at line 78 of file ALSM.h.

◆ IdleInfo

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

private

Definition at line 83 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,
		LocalizationStage &	localization_stage,
		CollisionStage &	collision_stage,
		TrafficLightStage &	traffic_light_stage,
		MotionPlanStage &	motion_plan_stage,
		VehicleLightStage &	vehicle_light_stage
	)

Definition at line 17 of file ALSM.cpp.

Member Function Documentation

◆ IdentifyDestroyedActors()

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

private

Definition at line 137 of file ALSM.cpp.

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

Referenced by Update().

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◆ IdentifyNewActors()

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

private

Definition at line 115 of file ALSM.cpp.

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

Referenced by Update().

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◆ IsVehicleStuck()

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

private

Definition at line 354 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::rpc::Red, carla::traffic_manager::constants::VehicleRemoval::RED_TL_BLOCKED_TIME_THRESHOLD, simulation_state, and carla::traffic_manager::TrafficLightState::tl_state.

Referenced by Update().

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◆ RemoveActor()

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

Definition at line 367 of file ALSM.cpp.

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

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◆ Reset()

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

Definition at line 387 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.

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◆ Update()

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

Definition at line 45 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::Run().

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◆ 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 196 of file ALSM.cpp.

Referenced by UpdateRegisteredActorsData().

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◆ UpdateIdleTime()

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

private

Definition at line 340 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().

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◆ UpdateRegisteredActorsData()

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

private

Definition at line 169 of file ALSM.cpp.

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

Referenced by Update().

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◆ UpdateUnregisteredActorsData()

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

private

Definition at line 270 of file ALSM.cpp.

References carla::traffic_manager::SimulationState::AddActor(), carla::traffic_manager::Any, carla::traffic_manager::SimulationState::ContainsActor(), carla::client::Vehicle::GetSpeedLimit(), 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(), Vehicle, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by Update().

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Member Data Documentation

◆ buffer_map

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

private

Definition at line 47 of file ALSM.h.

Referenced by RemoveActor().

◆ collision_stage

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

private

Definition at line 60 of file ALSM.h.

Referenced by RemoveActor().

◆ current_timestamp

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

private

Definition at line 66 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 65 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 67 of file ALSM.h.

Referenced by UpdateData().

◆ hero_actors

ActorMap carla::traffic_manager::ALSM::hero_actors

private

Definition at line 51 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 49 of file ALSM.h.

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

◆ local_map

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

private

Definition at line 57 of file ALSM.h.

Referenced by UpdateUnregisteredActorsData().

◆ localization_stage

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

private

Definition at line 59 of file ALSM.h.

Referenced by RemoveActor().

◆ marked_for_removal

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

private

Definition at line 54 of file ALSM.h.

Referenced by Update().

◆ motion_plan_stage

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

private

Definition at line 62 of file ALSM.h.

Referenced by RemoveActor().

◆ parameters

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

private

Definition at line 55 of file ALSM.h.

Referenced by Update(), and UpdateRegisteredActorsData().

◆ registered_vehicles

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

private

Definition at line 44 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 58 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 52 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 61 of file ALSM.h.

Referenced by RemoveActor().

◆ unregistered_actors

ActorMap carla::traffic_manager::ALSM::unregistered_actors

private

Definition at line 46 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 63 of file ALSM.h.

Referenced by RemoveActor().

◆ world

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

private

Definition at line 56 of file ALSM.h.

Referenced by Reset(), and Update().

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ DestroyeddActors

◆ IdleInfo

Constructor & Destructor Documentation

◆ ALSM()

Member Function Documentation

◆ IdentifyDestroyedActors()

◆ IdentifyNewActors()

◆ IsVehicleStuck()

◆ RemoveActor()

◆ Reset()

◆ Update()

◆ UpdateData()

◆ UpdateIdleTime()

◆ UpdateRegisteredActorsData()

◆ UpdateUnregisteredActorsData()

Member Data Documentation

◆ buffer_map

◆ collision_stage

◆ current_timestamp

◆ elapsed_last_actor_destruction

◆ has_physics_enabled

◆ hero_actors

◆ idle_time

◆ local_map

◆ localization_stage

◆ marked_for_removal

◆ motion_plan_stage

◆ parameters

◆ registered_vehicles

◆ simulation_state

◆ track_traffic

◆ traffic_light_stage

◆ unregistered_actors

◆ vehicle_light_stage

◆ world