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

class	BehaviorAgent
	Behavior-driven navigation agent. More...

struct	BehaviorParameters
	Parameter set consumed by BehaviorAgent. More...

class	ConstantVelocityAgent
	C++ port of agents.navigation.constant_velocity_agent.ConstantVelocityAgent. More...

class	GlobalRoutePlanner
	C++ port of agents.navigation.global_route_planner.GlobalRoutePlanner. More...

class	LocalPlanner
	LocalPlanner reproduces `agents.navigation.local_planner.LocalPlanner`. More...

class	PIDLateralController
	Lateral PID controller. More...

class	PIDLongitudinalController
	Longitudinal PID controller. More...

class	VehiclePIDController
	Combined longitudinal + lateral PID controller. More...

Typedefs
using	BgPoint = bg::model::d2::point_xy< double >

using	BgPolygon = bg::model::polygon< BgPoint >

using	LaneChange = road::element::LaneMarking::LaneChange

using	LaneType = road::Lane::LaneType

Enumerations
enum class	RoadOption : int8_t { Void = -1 , Left = 1 , Right = 2 , Straight = 3 , LaneFollow = 4 , ChangeLaneLeft = 5 , ChangeLaneRight = 6 }
	Topological direction emitted by the planners. More...

Functions
float	ComputeDistance (const geom::Location &a, const geom::Location &b)
	Euclidean distance between two locations (matches numpy's regularised version that adds an epsilon to avoid 0).

std::pair< float, float >	ComputeMagnitudeAngle (const geom::Location &target, const geom::Location &current, float orientation_deg)
	Returns the (distance, angle in degrees) from current to target relative to a forward orientation orientation_deg in degrees.

float	DistanceVehicle (SharedPtr< client::Waypoint > waypoint, const geom::Transform &vehicle_transform)
	2-D distance between a waypoint and a vehicle transform.

void	DrawWaypoints (SharedPtr< client::World > world, const std::vector< SharedPtr< client::Waypoint > > &waypoints, float z=0.5f)
	Draw the supplied waypoints in the world for a fixed lifetime.

float	GetSpeed (SharedPtr< client::Actor > actor)
	Compute speed of an actor in km/h.

geom::Location	GetTrafficLightTriggerLocation (SharedPtr< client::TrafficLight > traffic_light)
	Compute the world-space trigger location of a traffic light, mirroring the helper in `agents.tools.misc.get_trafficlight_trigger_location`.

bool	IsWithinDistance (const geom::Transform &target, const geom::Transform &reference, float max_distance, std::optional< std::pair< float, float > > angle_interval=std::nullopt)
	Returns true when target is within max_distance of reference.

float	Positive (float v)
	Clamp v at zero. Inline because it's tiny.

std::array< float, 3 >	UnitVector (const geom::Location &a, const geom::Location &b)
	Unit vector going from a to b, including the z component.

Typedef Documentation

◆ BgPoint

using carla::agents::navigation::BgPoint = typedef bg::model::d2::point_xy<double>

Definition at line 43 of file BasicAgent.cpp.

◆ BgPolygon

using carla::agents::navigation::BgPolygon = typedef bg::model::polygon<BgPoint>

Definition at line 44 of file BasicAgent.cpp.

◆ LaneChange

using carla::agents::navigation::LaneChange = typedef road::element::LaneMarking::LaneChange

Definition at line 47 of file BasicAgent.cpp.

◆ LaneType

using carla::agents::navigation::LaneType = typedef road::Lane::LaneType

Definition at line 46 of file BasicAgent.cpp.

Enumeration Type Documentation

◆ RoadOption

enum class carla::agents::navigation::RoadOption : int8_t

strong

Topological direction emitted by the planners.

Mirrors agents.navigation.local_planner.RoadOption from PythonAPI.

Enumerator
Void
Left
Right
Straight
LaneFollow
ChangeLaneLeft
ChangeLaneRight

Definition at line 16 of file agents/navigation/Types.h.

Function Documentation

◆ ComputeDistance()

float carla::agents::navigation::ComputeDistance	(	const geom::Location &	a,
		const geom::Location &	b
	)

Euclidean distance between two locations (matches numpy's regularised version that adds an epsilon to avoid 0).

Definition at line 150 of file Misc.cpp.

References carla::geom::Vector3D::x, x, carla::geom::Vector3D::y, y, carla::geom::Vector3D::z, and z.

Referenced by TEST(), and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

◆ ComputeMagnitudeAngle()

std::pair< float, float > carla::agents::navigation::ComputeMagnitudeAngle	(	const geom::Location &	target,
		const geom::Location &	current,
		float	orientation_deg
	)

Returns the (distance, angle in degrees) from current to target relative to a forward orientation orientation_deg in degrees.

Definition at line 109 of file Misc.cpp.

References carla::geom::Math::ToDegrees(), carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by TEST(), and TEST().

◆ DistanceVehicle()

float carla::agents::navigation::DistanceVehicle	(	SharedPtr< client::Waypoint >	waypoint,
		const geom::Transform &	vehicle_transform
	)

2-D distance between a waypoint and a vehicle transform.

Definition at line 130 of file Misc.cpp.

References carla::geom::Transform::location, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

◆ DrawWaypoints()

void carla::agents::navigation::DrawWaypoints	(	SharedPtr< client::World >	world,
		const std::vector< SharedPtr< client::Waypoint > > &	waypoints,
		float	z
	)

Draw the supplied waypoints in the world for a fixed lifetime.

Definition at line 159 of file Misc.cpp.

References carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Vector3D::z, and z.

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

◆ GetSpeed()

float carla::agents::navigation::GetSpeed ( SharedPtr< client::Actor > actor )

Compute speed of an actor in km/h.

Definition at line 37 of file Misc.cpp.

Referenced by carla::agents::navigation::BehaviorAgent::CarFollowingManager(), carla::agents::navigation::BasicAgent::RunStep(), carla::agents::navigation::LocalPlanner::RunStep(), carla::agents::navigation::PIDLongitudinalController::RunStep(), carla::agents::navigation::BehaviorAgent::Tailgating(), and carla::agents::navigation::BehaviorAgent::UpdateInformation().

◆ GetTrafficLightTriggerLocation()

geom::Location carla::agents::navigation::GetTrafficLightTriggerLocation ( SharedPtr< client::TrafficLight > traffic_light )

Compute the world-space trigger location of a traffic light, mirroring the helper in agents.tools.misc.get_trafficlight_trigger_location.

Definition at line 45 of file Misc.cpp.

References carla::geom::BoundingBox::extent, carla::geom::BoundingBox::location, point, carla::geom::Transform::rotation, carla::geom::Math::ToRadians(), carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Rotation::yaw, and carla::geom::Vector3D::z.

Referenced by carla::agents::navigation::BasicAgent::AffectedByTrafficLight().

◆ IsWithinDistance()

bool carla::agents::navigation::IsWithinDistance	(	const geom::Transform &	target,
		const geom::Transform &	reference,
		float	max_distance,
		std::optional< std::pair< float, float > >	angle_interval = `std::nullopt`
	)

Returns true when target is within max_distance of reference.

When angle_interval is provided, the angle (in degrees) between the reference's forward vector and the vector reference -> target must lie in the open interval (min, max).

Definition at line 78 of file Misc.cpp.

References carla::geom::Transform::GetForwardVector(), carla::geom::Transform::location, carla::geom::Math::ToDegrees(), carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by carla::agents::navigation::BasicAgent::AffectedByTrafficLight(), TEST(), TEST(), TEST(), and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

◆ Positive()

float carla::agents::navigation::Positive ( float v )

inline

Clamp v at zero. Inline because it's tiny.

Definition at line 74 of file Misc.h.

Referenced by carla::agents::navigation::BehaviorAgent::CarFollowingManager(), and TEST().

◆ UnitVector()

std::array< float, 3 > carla::agents::navigation::UnitVector	(	const geom::Location &	a,
		const geom::Location &	b
	)

Unit vector going from a to b, including the z component.

Definition at line 139 of file Misc.cpp.