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

#include <Navigation.h>

Inheritance diagram for carla::nav::Navigation:

Collaboration diagram for carla::nav::Navigation:

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

NonCopyable &	operator= (const NonCopyable &)=delete

NonCopyable &	operator= (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 ( )

Definition at line 56 of file Navigation.cpp.

References _binary_mesh, _crowd, _mapped_by_index, _mapped_vehicles_id, _mapped_walkers_id, _nav_mesh, _nav_query, _ready, _time_to_unblock, _walkers_blocked_position, and _yaw_walkers.

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
	)

return the path points to go from one position to another

Definition at line 260 of file Navigation.cpp.

References _mutex, _nav_mesh, _nav_query, _ready, carla::nav::CARLA_AREA_GRASS, carla::nav::CARLA_AREA_ROAD, carla::nav::CARLA_TYPE_NONE, carla::nav::CARLA_TYPE_WALKABLE, DEBUG_ASSERT, carla::nav::MAX_POLYS, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

◆ 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

crowd

Definition at line 126 of file Navigation.h.

Referenced by AddOrUpdateVehicle(), AddWalker(), CreateCrowd(), GetAgentRoute(), GetWalkerPosition(), GetWalkerSpeed(), GetWalkerTransform(), HasVehicleNear(), PauseAgent(), RemoveAgent(), SetAgentFilter(), SetWalkerDirectTargetIndex(), SetWalkerLookAt(), SetWalkerMaxSpeed(), UpdateCrowd(), and ~Navigation().

◆ _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

Definition at line 129 of file Navigation.h.

Referenced by AddOrUpdateVehicle(), HasVehicleNear(), RemoveAgent(), SetWalkerLookAt(), UpdateVehicles(), and ~Navigation().

◆ _mapped_walkers_id

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

private

mapping Id

Definition at line 128 of file Navigation.h.

Referenced by AddWalker(), GetAgentRoute(), GetWalkerPosition(), GetWalkerSpeed(), GetWalkerTransform(), HasVehicleNear(), PauseAgent(), RemoveAgent(), SetWalkerDirectTarget(), SetWalkerLookAt(), SetWalkerMaxSpeed(), SetWalkerTarget(), and ~Navigation().

◆ _mutex

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

mutableprivate

Definition at line 141 of file Navigation.h.

Referenced by AddOrUpdateVehicle(), AddWalker(), GetAgentRoute(), GetPath(), GetRandomLocation(), GetWalkerPosition(), GetWalkerSpeed(), GetWalkerTransform(), HasVehicleNear(), PauseAgent(), RemoveAgent(), SetAgentFilter(), SetWalkerDirectTargetIndex(), SetWalkerLookAt(), SetWalkerMaxSpeed(), and UpdateCrowd().

◆ _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

Definition at line 124 of file Navigation.h.

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

◆ _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

Definition at line 119 of file Navigation.h.

Referenced by AddOrUpdateVehicle(), AddWalker(), CreateCrowd(), GetAgentRoute(), GetPath(), GetRandomLocation(), GetWalkerPosition(), GetWalkerSpeed(), GetWalkerTransform(), Load(), PauseAgent(), RemoveAgent(), SetWalkerDirectTarget(), SetWalkerDirectTargetIndex(), SetWalkerMaxSpeed(), SetWalkerTarget(), UpdateCrowd(), and ~Navigation().

◆ _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:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Navigation()

◆ ~Navigation()

Member Function Documentation

◆ AddOrUpdateVehicle()

◆ AddWalker()

◆ CreateCrowd()

◆ GetAgentRoute()

◆ GetCrowd()

◆ GetDeltaSeconds()

◆ GetPath()

◆ GetRandomLocation()

◆ GetWalkerPosition()

◆ GetWalkerSpeed()

◆ GetWalkerTransform()

◆ HasVehicleNear()

◆ Load() [1/2]

◆ Load() [2/2]

◆ PauseAgent()

◆ RemoveAgent()

◆ SetAgentFilter()

◆ SetPedestriansCrossFactor()

◆ SetSeed()

◆ SetWalkerDirectTarget()

◆ SetWalkerDirectTargetIndex()

◆ SetWalkerLookAt()

◆ SetWalkerMaxSpeed()

◆ SetWalkerTarget()

◆ UpdateCrowd()

◆ UpdateVehicles()

Member Data Documentation

◆ _binary_mesh

◆ _crowd

◆ _delta_seconds

◆ _mapped_by_index

◆ _mapped_vehicles_id

◆ _mapped_walkers_id

◆ _mutex

◆ _nav_mesh

◆ _nav_query

◆ _probability_crossing

◆ _ready

◆ _time_to_unblock

◆ _walker_manager

◆ _walkers_blocked_position

◆ _yaw_walkers