class implementing the RSS restrictions within CARLA More...

#include <RssRestrictor.h>

Collaboration diagram for carla::rss::RssRestrictor:

Public Member Functions
carla::rpc::VehicleControl	RestrictVehicleControl (const carla::rpc::VehicleControl &vehicle_control, const ::ad::rss::state::ProperResponse &proper_response, const carla::rss::EgoDynamicsOnRoute &ego_dynamics_on_route, const carla::rpc::VehiclePhysicsControl &vehicle_physics)
	the actual function to restrict the given vehicle control input to mimick RSS conform behavior by braking Lateral braking is achieved by counter-steering, so is only a very rough solution More...

	RssRestrictor ()
	constructor More...

void	SetLogLevel (const uint8_t log_level)

	~RssRestrictor ()
	destructor More...

Private Attributes
std::shared_ptr< spdlog::logger >	_logger
	the logger instance More...

Detailed Description

class implementing the RSS restrictions within CARLA

Definition at line 35 of file RssRestrictor.h.

Constructor & Destructor Documentation

◆ RssRestrictor()

carla::rss::RssRestrictor::RssRestrictor ( )

constructor

Definition at line 19 of file RssRestrictor.cpp.

References _logger, SetLogLevel(), and ~RssRestrictor().

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◆ ~RssRestrictor()

carla::rss::RssRestrictor::~RssRestrictor ( )

default

destructor

Referenced by RssRestrictor().

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Member Function Documentation

◆ RestrictVehicleControl()

carla::rpc::VehicleControl carla::rss::RssRestrictor::RestrictVehicleControl	(	const carla::rpc::VehicleControl &	vehicle_control,
		const ::ad::rss::state::ProperResponse &	proper_response,
		const carla::rss::EgoDynamicsOnRoute &	ego_dynamics_on_route,
		const carla::rpc::VehiclePhysicsControl &	vehicle_physics
	)

the actual function to restrict the given vehicle control input to mimick RSS conform behavior by braking Lateral braking is achieved by counter-steering, so is only a very rough solution

Definition at line 38 of file RssRestrictor.cpp.

References _logger, carla::rss::EgoDynamicsOnRoute::avg_route_accel_lat, carla::rpc::VehicleControl::brake, carla::rss::EgoDynamicsOnRoute::crossing_border, carla::rss::EgoDynamicsOnRoute::ego_heading, carla::rpc::VehiclePhysicsControl::mass, min(), carla::rpc::VehicleControl::reverse, carla::rss::EgoDynamicsOnRoute::route_accel_lat, carla::rss::EgoDynamicsOnRoute::route_speed_lat, carla::rss::EgoDynamicsOnRoute::route_speed_lon, carla::rpc::VehicleControl::steer, carla::rpc::VehicleControl::throttle, and carla::rpc::VehiclePhysicsControl::wheels.

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◆ SetLogLevel()

void carla::rss::RssRestrictor::SetLogLevel ( const uint8_t log_level )

Definition at line 31 of file RssRestrictor.cpp.

References _logger.

Referenced by RssRestrictor().

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Member Data Documentation

◆ _logger

std::shared_ptr<spdlog::logger> carla::rss::RssRestrictor::_logger

private

the logger instance

Definition at line 57 of file RssRestrictor.h.

Referenced by RestrictVehicleControl(), RssRestrictor(), and SetLogLevel().

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

Public Member Functions

Private Attributes