carla::traffic_manager::LocalizationStage Class Reference

This class has functionality to maintain a horizon of waypoints ahead of the vehicle for it to follow. More...

#include <LocalizationStage.h>

Inheritance diagram for carla::traffic_manager::LocalizationStage:

Collaboration diagram for carla::traffic_manager::LocalizationStage:

Public Member Functions
ActionBuffer	ComputeActionBuffer (const ActorId &actor_id)
Action	ComputeNextAction (const ActorId &actor_id)
	LocalizationStage (const std::vector< ActorId > &vehicle_id_list, BufferMap &buffer_map, const SimulationState &simulation_state, TrackTraffic &track_traffic, const LocalMapPtr &local_map, Parameters &parameters, std::vector< ActorId > &marked_for_removal, LocalizationFrame &output_array, RandomGenerator &random_device)
void	RemoveActor (const ActorId actor_id) override
void	Reset () override
void	Update (const unsigned long index) override

Private Types
using	SimpleWaypointPair = std::pair< SimpleWaypointPtr, SimpleWaypointPtr >

Private Member Functions
SimpleWaypointPtr	AssignLaneChange (const ActorId actor_id, const cg::Location vehicle_location, const float vehicle_speed, bool force, bool direction)
void	ExtendAndFindSafeSpace (const ActorId actor_id, const bool is_at_junction_entrance, Buffer &waypoint_buffer)
void	ImportPath (Path &imported_path, Buffer &waypoint_buffer, const ActorId actor_id, const float horizon_square)
void	ImportRoute (Route &imported_actions, Buffer &waypoint_buffer, const ActorId actor_id, const float horizon_square)
Private Member Functions inherited from carla::traffic_manager::Stage
	Stage ()
	Stage (const Stage &)
virtual	~Stage ()

Private Attributes
BufferMap &	buffer_map
LaneChangeSWptMap	last_lane_change_swpt
const LocalMapPtr &	local_map
std::vector< ActorId > &	marked_for_removal
LocalizationFrame &	output_array
Parameters &	parameters
RandomGenerator &	random_device
const SimulationState &	simulation_state
TrackTraffic &	track_traffic
const std::vector< ActorId > &	vehicle_id_list
ActorIdSet	vehicles_at_junction
std::unordered_map< ActorId, SimpleWaypointPair >	vehicles_at_junction_entrance

Detailed Description

This class has functionality to maintain a horizon of waypoints ahead of the vehicle for it to follow.

The class is also responsible for managing lane change decisions and modify the waypoint trajectory appropriately.

Definition at line 32 of file LocalizationStage.h.

Member Typedef Documentation

SimpleWaypointPair

using carla::traffic_manager::LocalizationStage::SimpleWaypointPair = std::pair<SimpleWaypointPtr, SimpleWaypointPtr>

private

Definition at line 45 of file LocalizationStage.h.

Constructor & Destructor Documentation

LocalizationStage()

carla::traffic_manager::LocalizationStage::LocalizationStage	(	const std::vector< ActorId > &	vehicle_id_list,
		BufferMap &	buffer_map,
		const SimulationState &	simulation_state,
		TrackTraffic &	track_traffic,
		const LocalMapPtr &	local_map,
		Parameters &	parameters,
		std::vector< ActorId > &	marked_for_removal,
		LocalizationFrame &	output_array,
		RandomGenerator &	random_device
	)

Definition at line 16 of file LocalizationStage.cpp.

Member Function Documentation

AssignLaneChange()

SimpleWaypointPtr carla::traffic_manager::LocalizationStage::AssignLaneChange ( const ActorId  actor_id, const cg::Location  vehicle_location, const float  vehicle_speed, bool  force, bool  direction  )

private

Definition at line 332 of file LocalizationStage.cpp.

References buffer_map, carla::geom::Math::Clamp(), carla::geom::Math::DistanceSquared(), carla::geom::Math::Dot(), carla::traffic_manager::TrackTraffic::GetOverlappingVehicles(), carla::traffic_manager::TrackTraffic::GetPassingVehicles(), carla::traffic_manager::constants::LaneChange::MAX_WPT_DISTANCE, carla::traffic_manager::constants::LaneChange::MAXIMUM_LANE_OBSTACLE_CURVATURE, carla::traffic_manager::constants::LaneChange::MAXIMUM_LANE_OBSTACLE_DISTANCE, carla::traffic_manager::constants::LaneChange::MIN_WPT_DISTANCE, carla::traffic_manager::constants::LaneChange::MINIMUM_LANE_CHANGE_DISTANCE, SQUARE, and track_traffic.

Referenced by Update().

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ComputeActionBuffer()

ActionBuffer carla::traffic_manager::LocalizationStage::ComputeActionBuffer

(

const ActorId &

actor_id

)

Definition at line 625 of file LocalizationStage.cpp.

References buffer_map, carla::traffic_manager::ChangeLaneLeft, carla::traffic_manager::ChangeLaneRight, carla::geom::Math::DistanceSquared(), carla::traffic_manager::SimulationState::GetHeading(), carla::traffic_manager::SimulationState::GetLocation(), last_lane_change_swpt, simulation_state, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

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

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ComputeNextAction()

Action carla::traffic_manager::LocalizationStage::ComputeNextAction

(

const ActorId &

actor_id

)

Definition at line 592 of file LocalizationStage.cpp.

References buffer_map, carla::traffic_manager::ChangeLaneLeft, carla::traffic_manager::ChangeLaneRight, carla::geom::Math::DistanceSquared(), carla::traffic_manager::SimulationState::GetHeading(), carla::traffic_manager::SimulationState::GetLocation(), carla::traffic_manager::LaneFollow, last_lane_change_swpt, simulation_state, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

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

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ExtendAndFindSafeSpace()

void carla::traffic_manager::LocalizationStage::ExtendAndFindSafeSpace ( const ActorId  actor_id, const bool  is_at_junction_entrance, Buffer &  waypoint_buffer  )

private

Definition at line 234 of file LocalizationStage.cpp.

References carla::traffic_manager::constants::WaypointSelection::MIN_JUNCTION_LENGTH, carla::traffic_manager::PushWaypoint(), carla::traffic_manager::constants::WaypointSelection::SAFE_DISTANCE_AFTER_JUNCTION, SQUARE, track_traffic, and vehicles_at_junction_entrance.

Referenced by Update().

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ImportPath()

void carla::traffic_manager::LocalizationStage::ImportPath ( Path &  imported_path, Buffer &  waypoint_buffer, const ActorId  actor_id, const float  horizon_square  )

private

Definition at line 453 of file LocalizationStage.cpp.

References carla::traffic_manager::Parameters::GetOSMMode(), carla::traffic_manager::Parameters::GetUploadPath(), local_map, marked_for_removal, parameters, carla::traffic_manager::PopWaypoint(), carla::traffic_manager::PushWaypoint(), carla::traffic_manager::Parameters::RemoveUploadPath(), track_traffic, and carla::traffic_manager::Parameters::UpdateUploadPath().

Referenced by Update().

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ImportRoute()

void carla::traffic_manager::LocalizationStage::ImportRoute ( Route &  imported_actions, Buffer &  waypoint_buffer, const ActorId  actor_id, const float  horizon_square  )

private

Definition at line 536 of file LocalizationStage.cpp.

References carla::traffic_manager::Parameters::GetOSMMode(), carla::traffic_manager::Parameters::GetUploadRoute(), marked_for_removal, parameters, carla::traffic_manager::PopWaypoint(), carla::traffic_manager::PushWaypoint(), carla::traffic_manager::Parameters::RemoveImportedRoute(), track_traffic, and carla::traffic_manager::Parameters::UpdateImportedRoute().

Referenced by Update().

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RemoveActor()

void carla::traffic_manager::LocalizationStage::RemoveActor ( const ActorId  actor_id )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 322 of file LocalizationStage.cpp.

References last_lane_change_swpt, and vehicles_at_junction.

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

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Reset()

void carla::traffic_manager::LocalizationStage::Reset ( void  )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 327 of file LocalizationStage.cpp.

References last_lane_change_swpt, and vehicles_at_junction.

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

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Update()

void carla::traffic_manager::LocalizationStage::Update ( const unsigned long  index )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 36 of file LocalizationStage.cpp.

References AssignLaneChange(), buffer_map, carla::traffic_manager::ChangeLaneInfo::change_lane, carla::traffic_manager::DeviationDotProduct(), carla::traffic_manager::ChangeLaneInfo::direction, carla::geom::Math::DistanceSquared(), ExtendAndFindSafeSpace(), carla::traffic_manager::constants::LaneChange::FIFTYPERC, carla::traffic_manager::Parameters::GetAutoLaneChange(), carla::traffic_manager::Parameters::GetCustomPath(), carla::traffic_manager::Parameters::GetForceLaneChange(), carla::traffic_manager::SimulationState::GetHeading(), carla::traffic_manager::Parameters::GetImportedRoute(), carla::traffic_manager::Parameters::GetKeepRightPercentage(), carla::traffic_manager::SimulationState::GetLocation(), carla::traffic_manager::Parameters::GetOSMMode(), carla::traffic_manager::Parameters::GetRandomLeftLaneChangePercentage(), carla::traffic_manager::Parameters::GetRandomRightLaneChangePercentage(), carla::traffic_manager::GetTargetWaypoint(), carla::traffic_manager::SimulationState::GetVelocity(), carla::traffic_manager::constants::PathBufferUpdate::HIGH_SPEED_HORIZON_RATE, carla::traffic_manager::constants::SpeedThreshold::HIGHWAY_SPEED, carla::traffic_manager::constants::PathBufferUpdate::HORIZON_RATE, ImportPath(), ImportRoute(), carla::traffic_manager::constants::LaneChange::INTER_LANE_CHANGE_DISTANCE, carla::traffic_manager::LocalizationData::is_at_junction_entrance, carla::traffic_manager::LocalizationData::junction_end_point, carla::traffic_manager::constants::WaypointSelection::JUNCTION_LOOK_AHEAD, last_lane_change_swpt, carla::geom::Vector3D::Length(), local_map, marked_for_removal, carla::traffic_manager::constants::PathBufferUpdate::MAX_START_DISTANCE, carla::traffic_manager::constants::LaneChange::MIN_LANE_CHANGE_SPEED, carla::traffic_manager::constants::PathBufferUpdate::MINIMUM_HORIZON_LENGTH, carla::traffic_manager::RandomGenerator::next(), output_array, parameters, carla::traffic_manager::PopWaypoint(), carla::traffic_manager::PushWaypoint(), random_device, carla::traffic_manager::LocalizationData::safe_point, simulation_state, SQUARE, carla::geom::Vector3D::SquaredLength(), track_traffic, carla::traffic_manager::TrackTraffic::UpdateGridPosition(), vehicle_id_list, and vehicles_at_junction_entrance.

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

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Member Data Documentation

buffer_map

BufferMap& carla::traffic_manager::LocalizationStage::buffer_map

private

Definition at line 35 of file LocalizationStage.h.

Referenced by AssignLaneChange(), ComputeActionBuffer(), ComputeNextAction(), and Update().

last_lane_change_swpt

LaneChangeSWptMap carla::traffic_manager::LocalizationStage::last_lane_change_swpt

private

Definition at line 43 of file LocalizationStage.h.

Referenced by ComputeActionBuffer(), ComputeNextAction(), RemoveActor(), Reset(), and Update().

local_map

const LocalMapPtr& carla::traffic_manager::LocalizationStage::local_map

private

Definition at line 38 of file LocalizationStage.h.

Referenced by ImportPath(), and Update().

marked_for_removal

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

private

Definition at line 41 of file LocalizationStage.h.

Referenced by ImportPath(), ImportRoute(), and Update().

output_array

LocalizationFrame& carla::traffic_manager::LocalizationStage::output_array

private

Definition at line 42 of file LocalizationStage.h.

Referenced by Update().

parameters

Parameters& carla::traffic_manager::LocalizationStage::parameters

private

Definition at line 39 of file LocalizationStage.h.

Referenced by ImportPath(), ImportRoute(), and Update().

random_device

RandomGenerator& carla::traffic_manager::LocalizationStage::random_device

private

Definition at line 47 of file LocalizationStage.h.

Referenced by Update().

simulation_state

const SimulationState& carla::traffic_manager::LocalizationStage::simulation_state

private

Definition at line 36 of file LocalizationStage.h.

Referenced by ComputeActionBuffer(), ComputeNextAction(), and Update().

track_traffic

TrackTraffic& carla::traffic_manager::LocalizationStage::track_traffic

private

Definition at line 37 of file LocalizationStage.h.

Referenced by AssignLaneChange(), ExtendAndFindSafeSpace(), ImportPath(), ImportRoute(), and Update().

vehicle_id_list

const std::vector<ActorId>& carla::traffic_manager::LocalizationStage::vehicle_id_list

private

Definition at line 34 of file LocalizationStage.h.

Referenced by Update().

vehicles_at_junction

ActorIdSet carla::traffic_manager::LocalizationStage::vehicles_at_junction

private

Definition at line 44 of file LocalizationStage.h.

Referenced by RemoveActor(), and Reset().

vehicles_at_junction_entrance

std::unordered_map<ActorId, SimpleWaypointPair> carla::traffic_manager::LocalizationStage::vehicles_at_junction_entrance

private

Definition at line 46 of file LocalizationStage.h.

Referenced by ExtendAndFindSafeSpace(), and Update().

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

• LocalizationStage.h
• LocalizationStage.cpp