visitor class More...

#include <ActorROS2Handler.h>

Public Member Functions
	ActorROS2Handler ()=delete

	ActorROS2Handler (AActor *Actor, std::string RosName)

void	operator() (carla::ros2::AckermannControl &Source)

void	operator() (carla::ros2::MessageControl Message)

void	operator() (carla::ros2::VehicleAccelerationControl &Source)

void	operator() (carla::ros2::VehicleControl &Source)

Static Public Member Functions
static bool	FlattenSteeringCurve (AActor *Actor)
	Flatten the vehicle's steering curve to 1.0 at all speeds so the Autoware steering command maps 1:1 to wheel angle (tier4 port).

Private Attributes
AActor *	_Actor {nullptr}

std::string	_RosName

Detailed Description

visitor class

Definition at line 14 of file ActorROS2Handler.h.

Constructor & Destructor Documentation

◆ ActorROS2Handler() [1/2]

ActorROS2Handler::ActorROS2Handler ( )

delete

◆ ActorROS2Handler() [2/2]

ActorROS2Handler::ActorROS2Handler	(	AActor *	Actor,
		std::string	RosName
	)

inline

Definition at line 18 of file ActorROS2Handler.h.

Member Function Documentation

◆ FlattenSteeringCurve()

bool ActorROS2Handler::FlattenSteeringCurve ( AActor * Actor )

static

Flatten the vehicle's steering curve to 1.0 at all speeds so the Autoware steering command maps 1:1 to wheel angle (tier4 port).

Note: Flatten steering curve to be always 1.0 to properly map wheel angle to steering at all speeds

Definition at line 73 of file ActorROS2Handler.cpp.

References IsValid(), and Vehicle.

Referenced by UActorDispatcher::RegisterActor().

◆ operator()() [1/4]

void ActorROS2Handler::operator() ( carla::ros2::AckermannControl & Source )

Definition at line 32 of file ActorROS2Handler.cpp.

References _Actor, carla::ros2::AckermannControl::acceleration, FVehicleAckermannControl::Acceleration, carla::ros2::AckermannControl::jerk, FVehicleAckermannControl::Jerk, carla::ros2::AckermannControl::speed, FVehicleAckermannControl::Speed, carla::ros2::AckermannControl::steer, FVehicleAckermannControl::Steer, carla::ros2::AckermannControl::steer_speed, FVehicleAckermannControl::SteerSpeed, and Vehicle.

◆ operator()() [2/4]

void ActorROS2Handler::operator() ( carla::ros2::MessageControl Message )

Definition at line 60 of file ActorROS2Handler.cpp.

References _Actor, and Vehicle.

◆ operator()() [3/4]

void ActorROS2Handler::operator() ( carla::ros2::VehicleAccelerationControl & Source )

Definition at line 49 of file ActorROS2Handler.cpp.

References _Actor, carla::ros2::VehicleAccelerationControl::acceleration, IsValid(), carla::ros2::VehicleAccelerationControl::steer, carla::ros2::VehicleAccelerationControl::steer_speed, and Vehicle.

◆ operator()() [4/4]

void ActorROS2Handler::operator() ( carla::ros2::VehicleControl & Source )

Definition at line 12 of file ActorROS2Handler.cpp.

References _Actor, FVehicleControl::bHandBrake, FVehicleControl::bManualGearShift, carla::ros2::VehicleControl::brake, FVehicleControl::Brake, FVehicleControl::bReverse, carla::ros2::VehicleControl::gear, FVehicleControl::Gear, carla::ros2::VehicleControl::hand_brake, carla::ros2::VehicleControl::manual_gear_shift, carla::ros2::VehicleControl::reverse, carla::ros2::VehicleControl::steer, FVehicleControl::Steer, carla::ros2::VehicleControl::throttle, FVehicleControl::Throttle, and Vehicle.

Member Data Documentation

◆ _Actor

AActor* ActorROS2Handler::_Actor {nullptr}

private

Definition at line 30 of file ActorROS2Handler.h.

Referenced by operator()(), operator()(), operator()(), and operator()().

◆ _RosName

std::string ActorROS2Handler::_RosName