CARLA
Public Member Functions | Private Member Functions | Private Attributes | List of all members
carla::nav::Navigation Class Reference

Manage the pedestrians navigation, using the Recast & Detour library for low level calculations. More...

#include <Navigation.h>

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Public Member Functions

bool AddOrUpdateVehicle (VehicleCollisionInfo &vehicle)
 create a new vehicle in crowd to be avoided by walkers More...
 
bool AddWalker (ActorId id, carla::geom::Location from)
 create a new walker More...
 
void CreateCrowd (void)
 create the crowd object More...
 
bool GetAgentRoute (ActorId id, carla::geom::Location from, carla::geom::Location to, std::vector< carla::geom::Location > &path, std::vector< unsigned char > &area)
 
dtCrowd * GetCrowd ()
 
double GetDeltaSeconds ()
 return the last delta seconds More...
 
bool GetPath (carla::geom::Location from, carla::geom::Location to, dtQueryFilter *filter, std::vector< carla::geom::Location > &path, std::vector< unsigned char > &area)
 return the path points to go from one position to another More...
 
bool GetRandomLocation (carla::geom::Location &location, dtQueryFilter *filter=nullptr) const
 get a random location for navigation More...
 
bool GetWalkerPosition (ActorId id, carla::geom::Location &location)
 get the walker current location More...
 
float GetWalkerSpeed (ActorId id)
 get the walker current transform More...
 
bool GetWalkerTransform (ActorId id, carla::geom::Transform &trans)
 get the walker current transform More...
 
bool HasVehicleNear (ActorId id, float distance, carla::geom::Location direction)
 return if the agent has a vehicle near (as neighbour) More...
 
bool Load (const std::string &filename)
 load navigation data More...
 
bool Load (std::vector< uint8_t > content)
 load navigation data from memory More...
 
 Navigation ()
 
void PauseAgent (ActorId id, bool pause)
 set an agent as paused for the crowd More...
 
bool RemoveAgent (ActorId id)
 remove an agent More...
 
void SetPedestriansCrossFactor (float percentage)
 set the probability that an agent could cross the roads in its path following More...
 
void SetSeed (unsigned int seed)
 set the seed to use with random numbers More...
 
bool SetWalkerDirectTarget (ActorId id, carla::geom::Location to)
 
bool SetWalkerDirectTargetIndex (int index, carla::geom::Location to)
 
bool SetWalkerLookAt (ActorId id, carla::geom::Location location)
 make agent look at some location More...
 
bool SetWalkerMaxSpeed (ActorId id, float max_speed)
 set new max speed More...
 
bool SetWalkerTarget (ActorId id, carla::geom::Location to)
 set a new target point to go through a route with events More...
 
void UpdateCrowd (const client::detail::EpisodeState &state)
 update all walkers in crowd More...
 
bool UpdateVehicles (std::vector< VehicleCollisionInfo > vehicles)
 add/update/delete vehicles in crowd More...
 
 ~Navigation ()
 

Private Member Functions

void SetAgentFilter (int agent_index, int filter_index)
 assign a filter index to an agent More...
 
- Private Member Functions inherited from carla::NonCopyable
 NonCopyable ()=default
 
 NonCopyable (const NonCopyable &)=delete
 
 NonCopyable (NonCopyable &&)=delete
 
NonCopyableoperator= (const NonCopyable &)=delete
 
NonCopyableoperator= (NonCopyable &&)=delete
 

Private Attributes

std::vector< uint8_t > _binary_mesh
 
dtCrowd * _crowd { nullptr }
 crowd More...
 
double _delta_seconds { 0.0 }
 
std::unordered_map< int, ActorId_mapped_by_index
 
std::unordered_map< ActorId, int > _mapped_vehicles_id
 
std::unordered_map< ActorId, int > _mapped_walkers_id
 mapping Id More...
 
std::mutex _mutex
 
dtNavMesh * _nav_mesh { nullptr }
 meshes More...
 
dtNavMeshQuery * _nav_query { nullptr }
 
float _probability_crossing { 0.0f }
 
bool _ready { false }
 
double _time_to_unblock { 0.0 }
 
WalkerManager _walker_manager
 walker manager for the route planning with events More...
 
std::unordered_map< int, carla::geom::Vector3D_walkers_blocked_position
 saves the position of each actor at intervals and check if any is blocked More...
 
std::unordered_map< ActorId, float > _yaw_walkers
 store walkers yaw angle from previous tick More...
 

Detailed Description

Manage the pedestrians navigation, using the Recast & Detour library for low level calculations.

This class gets the binary content of the map from the server, which is required for the path finding. Then this class can add or remove pedestrians, and also set target points to walk for each one.

Definition at line 57 of file Navigation.h.

Constructor & Destructor Documentation

◆ Navigation()

carla::nav::Navigation::Navigation ( )

Definition at line 51 of file Navigation.cpp.

References _walker_manager, and carla::nav::WalkerManager::SetNav().

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◆ ~Navigation()

carla::nav::Navigation::~Navigation ( )

Member Function Documentation

◆ AddOrUpdateVehicle()

bool carla::nav::Navigation::AddOrUpdateVehicle ( VehicleCollisionInfo vehicle)

create a new vehicle in crowd to be avoided by walkers

Definition at line 527 of file Navigation.cpp.

References _crowd, _mapped_by_index, _mapped_vehicles_id, _mutex, _ready, carla::nav::AGENT_HEIGHT, carla::nav::VehicleCollisionInfo::bounding, DEBUG_ASSERT, carla::nav::DT_CROWD_SEPARATION, carla::geom::BoundingBox::extent, carla::nav::VehicleCollisionInfo::id, carla::geom::Transform::location, carla::logging::log(), carla::geom::Math::RotatePointOnOrigin2D(), carla::geom::Transform::rotation, carla::geom::Math::ToRadians(), carla::nav::VehicleCollisionInfo::transform, carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Rotation::yaw, and carla::geom::Vector3D::z.

Referenced by UpdateVehicles().

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◆ AddWalker()

bool carla::nav::Navigation::AddWalker ( ActorId  id,
carla::geom::Location  from 
)

create a new walker

Definition at line 466 of file Navigation.cpp.

References _crowd, _mapped_by_index, _mapped_walkers_id, _mutex, _probability_crossing, _ready, _walker_manager, _yaw_walkers, carla::nav::WalkerManager::AddWalker(), carla::nav::AGENT_HEIGHT, carla::nav::AGENT_RADIUS, DEBUG_ASSERT, carla::nav::DT_CROWD_ANTICIPATE_TURNS, carla::nav::DT_CROWD_OBSTACLE_AVOIDANCE, carla::nav::DT_CROWD_SEPARATION, carla::nav::frand(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::client::detail::WalkerNavigation::AddWalker().

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◆ CreateCrowd()

void carla::nav::Navigation::CreateCrowd ( void  )

create the crowd object

Definition at line 194 of file Navigation.cpp.

References _crowd, _nav_mesh, _ready, carla::nav::CARLA_AREA_GRASS, carla::nav::CARLA_AREA_ROAD, carla::nav::CARLA_TYPE_NONE, carla::nav::CARLA_TYPE_ROAD, carla::nav::CARLA_TYPE_WALKABLE, DEBUG_ASSERT, and carla::logging::log().

Referenced by Load().

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◆ GetAgentRoute()

bool carla::nav::Navigation::GetAgentRoute ( ActorId  id,
carla::geom::Location  from,
carla::geom::Location  to,
std::vector< carla::geom::Location > &  path,
std::vector< unsigned char > &  area 
)

Definition at line 365 of file Navigation.cpp.

References _crowd, _mapped_walkers_id, _mutex, _nav_mesh, _nav_query, _ready, DEBUG_ASSERT, carla::nav::MAX_POLYS, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::nav::WalkerManager::SetWalkerRoute().

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◆ GetCrowd()

dtCrowd* carla::nav::Navigation::GetCrowd ( )
inline

Definition at line 112 of file Navigation.h.

Referenced by carla::client::detail::WalkerNavigation::UpdateVehiclesInCrowd().

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◆ GetDeltaSeconds()

double carla::nav::Navigation::GetDeltaSeconds ( )
inline

return the last delta seconds

Definition at line 115 of file Navigation.h.

◆ GetPath()

bool carla::nav::Navigation::GetPath ( carla::geom::Location  from,
carla::geom::Location  to,
dtQueryFilter *  filter,
std::vector< carla::geom::Location > &  path,
std::vector< unsigned char > &  area 
)

◆ GetRandomLocation()

bool carla::nav::Navigation::GetRandomLocation ( carla::geom::Location location,
dtQueryFilter *  filter = nullptr 
) const

get a random location for navigation

Definition at line 1054 of file Navigation.cpp.

References _mutex, _nav_query, _ready, carla::nav::CARLA_TYPE_NONE, carla::nav::CARLA_TYPE_SIDEWALK, DEBUG_ASSERT, carla::nav::frand(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::client::detail::WalkerNavigation::GetRandomLocation(), carla::nav::WalkerManager::SetWalkerRoute(), and UpdateCrowd().

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◆ GetWalkerPosition()

bool carla::nav::Navigation::GetWalkerPosition ( ActorId  id,
carla::geom::Location location 
)

get the walker current location

Definition at line 979 of file Navigation.cpp.

References _crowd, _mapped_walkers_id, _mutex, _ready, DEBUG_ASSERT, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::nav::WalkerEventVisitor::operator()(), carla::nav::WalkerManager::SetWalkerRoute(), and carla::nav::WalkerManager::Update().

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◆ GetWalkerSpeed()

float carla::nav::Navigation::GetWalkerSpeed ( ActorId  id)

get the walker current transform

Definition at line 1020 of file Navigation.cpp.

References _crowd, _mapped_walkers_id, _mutex, _ready, and DEBUG_ASSERT.

Referenced by carla::client::detail::WalkerNavigation::Tick().

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◆ GetWalkerTransform()

bool carla::nav::Navigation::GetWalkerTransform ( ActorId  id,
carla::geom::Transform trans 
)

get the walker current transform

Definition at line 915 of file Navigation.cpp.

References _crowd, _delta_seconds, _mapped_walkers_id, _mutex, _ready, _yaw_walkers, DEBUG_ASSERT, carla::geom::Transform::location, carla::geom::Transform::rotation, carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Rotation::yaw, and carla::geom::Vector3D::z.

Referenced by carla::client::detail::WalkerNavigation::Tick().

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◆ HasVehicleNear()

bool carla::nav::Navigation::HasVehicleNear ( ActorId  id,
float  distance,
carla::geom::Location  direction 
)

return if the agent has a vehicle near (as neighbour)

Definition at line 1149 of file Navigation.cpp.

References _crowd, _mapped_vehicles_id, _mapped_walkers_id, _mutex, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::nav::WalkerEventVisitor::operator()().

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◆ Load() [1/2]

bool carla::nav::Navigation::Load ( const std::string &  filename)

load navigation data

Definition at line 76 of file Navigation.cpp.

Referenced by carla::client::detail::WalkerNavigation::WalkerNavigation().

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◆ Load() [2/2]

bool carla::nav::Navigation::Load ( std::vector< uint8_t >  content)

load navigation data from memory

Definition at line 93 of file Navigation.cpp.

References _binary_mesh, _nav_mesh, _nav_query, _ready, CreateCrowd(), and carla::logging::log().

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◆ PauseAgent()

void carla::nav::Navigation::PauseAgent ( ActorId  id,
bool  pause 
)

set an agent as paused for the crowd

Definition at line 1117 of file Navigation.cpp.

References _crowd, _mapped_walkers_id, _mutex, _ready, and DEBUG_ASSERT.

Referenced by carla::nav::WalkerManager::SetWalkerNextPoint(), and carla::nav::WalkerManager::Update().

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◆ RemoveAgent()

bool carla::nav::Navigation::RemoveAgent ( ActorId  id)

remove an agent

Definition at line 656 of file Navigation.cpp.

References _crowd, _mapped_by_index, _mapped_vehicles_id, _mapped_walkers_id, _mutex, _ready, _walker_manager, DEBUG_ASSERT, and carla::nav::WalkerManager::RemoveWalker().

Referenced by carla::client::detail::WalkerNavigation::CheckIfWalkerExist(), carla::client::detail::WalkerNavigation::RemoveWalker(), and UpdateVehicles().

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◆ SetAgentFilter()

void carla::nav::Navigation::SetAgentFilter ( int  agent_index,
int  filter_index 
)
private

assign a filter index to an agent

Definition at line 1095 of file Navigation.cpp.

References _crowd, and _mutex.

Referenced by UpdateCrowd().

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◆ SetPedestriansCrossFactor()

void carla::nav::Navigation::SetPedestriansCrossFactor ( float  percentage)

set the probability that an agent could cross the roads in its path following

Definition at line 1111 of file Navigation.cpp.

References _probability_crossing.

Referenced by carla::client::detail::WalkerNavigation::SetPedestriansCrossFactor().

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◆ SetSeed()

void carla::nav::Navigation::SetSeed ( unsigned int  seed)

set the seed to use with random numbers

Definition at line 71 of file Navigation.cpp.

Referenced by carla::client::detail::WalkerNavigation::SetPedestriansSeed().

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◆ SetWalkerDirectTarget()

bool carla::nav::Navigation::SetWalkerDirectTarget ( ActorId  id,
carla::geom::Location  to 
)

Definition at line 775 of file Navigation.cpp.

References _mapped_walkers_id, _ready, and SetWalkerDirectTargetIndex().

Referenced by carla::nav::WalkerManager::SetWalkerNextPoint().

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◆ SetWalkerDirectTargetIndex()

bool carla::nav::Navigation::SetWalkerDirectTargetIndex ( int  index,
carla::geom::Location  to 
)

Definition at line 792 of file Navigation.cpp.

References _crowd, _mutex, _nav_query, _ready, DEBUG_ASSERT, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by SetWalkerDirectTarget().

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◆ SetWalkerLookAt()

bool carla::nav::Navigation::SetWalkerLookAt ( ActorId  id,
carla::geom::Location  location 
)

make agent look at some location

Definition at line 1170 of file Navigation.cpp.

References _crowd, _mapped_vehicles_id, _mapped_walkers_id, _mutex, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

◆ SetWalkerMaxSpeed()

bool carla::nav::Navigation::SetWalkerMaxSpeed ( ActorId  id,
float  max_speed 
)

set new max speed

Definition at line 728 of file Navigation.cpp.

References _crowd, _mapped_walkers_id, _mutex, _ready, and DEBUG_ASSERT.

Referenced by carla::client::detail::WalkerNavigation::SetWalkerMaxSpeed().

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◆ SetWalkerTarget()

bool carla::nav::Navigation::SetWalkerTarget ( ActorId  id,
carla::geom::Location  to 
)

set a new target point to go through a route with events

Definition at line 758 of file Navigation.cpp.

References _mapped_walkers_id, _ready, _walker_manager, and carla::nav::WalkerManager::SetWalkerRoute().

Referenced by carla::client::detail::WalkerNavigation::SetWalkerTarget().

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◆ UpdateCrowd()

void carla::nav::Navigation::UpdateCrowd ( const client::detail::EpisodeState state)

update all walkers in crowd

Definition at line 827 of file Navigation.cpp.

References _crowd, _delta_seconds, _mapped_by_index, _mutex, _probability_crossing, _ready, _time_to_unblock, _walker_manager, _walkers_blocked_position, DEBUG_ASSERT, carla::nav::frand(), GetRandomLocation(), carla::client::detail::EpisodeState::GetTimestamp(), SetAgentFilter(), carla::nav::WalkerManager::SetWalkerRoute(), carla::geom::Vector3D::SquaredLength(), and carla::nav::WalkerManager::Update().

Referenced by carla::client::detail::WalkerNavigation::Tick().

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◆ UpdateVehicles()

bool carla::nav::Navigation::UpdateVehicles ( std::vector< VehicleCollisionInfo vehicles)

add/update/delete vehicles in crowd

Definition at line 702 of file Navigation.cpp.

References _mapped_vehicles_id, AddOrUpdateVehicle(), and RemoveAgent().

Referenced by carla::client::detail::WalkerNavigation::UpdateVehiclesInCrowd().

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Member Data Documentation

◆ _binary_mesh

std::vector<uint8_t> carla::nav::Navigation::_binary_mesh
private

Definition at line 120 of file Navigation.h.

Referenced by Load(), and ~Navigation().

◆ _crowd

dtCrowd* carla::nav::Navigation::_crowd { nullptr }
private

◆ _delta_seconds

double carla::nav::Navigation::_delta_seconds { 0.0 }
private

Definition at line 121 of file Navigation.h.

Referenced by GetWalkerTransform(), and UpdateCrowd().

◆ _mapped_by_index

std::unordered_map<int, ActorId> carla::nav::Navigation::_mapped_by_index
private

Definition at line 131 of file Navigation.h.

Referenced by AddOrUpdateVehicle(), AddWalker(), RemoveAgent(), UpdateCrowd(), and ~Navigation().

◆ _mapped_vehicles_id

std::unordered_map<ActorId, int> carla::nav::Navigation::_mapped_vehicles_id
private

◆ _mapped_walkers_id

std::unordered_map<ActorId, int> carla::nav::Navigation::_mapped_walkers_id
private

◆ _mutex

std::mutex carla::nav::Navigation::_mutex
mutableprivate

◆ _nav_mesh

dtNavMesh* carla::nav::Navigation::_nav_mesh { nullptr }
private

meshes

Definition at line 123 of file Navigation.h.

Referenced by CreateCrowd(), GetAgentRoute(), GetPath(), Load(), and ~Navigation().

◆ _nav_query

dtNavMeshQuery* carla::nav::Navigation::_nav_query { nullptr }
private

◆ _probability_crossing

float carla::nav::Navigation::_probability_crossing { 0.0f }
private

Definition at line 143 of file Navigation.h.

Referenced by AddWalker(), SetPedestriansCrossFactor(), and UpdateCrowd().

◆ _ready

bool carla::nav::Navigation::_ready { false }
private

◆ _time_to_unblock

double carla::nav::Navigation::_time_to_unblock { 0.0 }
private

Definition at line 136 of file Navigation.h.

Referenced by UpdateCrowd(), and ~Navigation().

◆ _walker_manager

WalkerManager carla::nav::Navigation::_walker_manager
private

walker manager for the route planning with events

Definition at line 139 of file Navigation.h.

Referenced by AddWalker(), Navigation(), RemoveAgent(), SetWalkerTarget(), and UpdateCrowd().

◆ _walkers_blocked_position

std::unordered_map<int, carla::geom::Vector3D> carla::nav::Navigation::_walkers_blocked_position
private

saves the position of each actor at intervals and check if any is blocked

Definition at line 135 of file Navigation.h.

Referenced by UpdateCrowd(), and ~Navigation().

◆ _yaw_walkers

std::unordered_map<ActorId, float> carla::nav::Navigation::_yaw_walkers
private

store walkers yaw angle from previous tick

Definition at line 133 of file Navigation.h.

Referenced by AddWalker(), GetWalkerTransform(), and ~Navigation().


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