LocalPlanner reproduces agents.navigation.local_planner.LocalPlanner. More...

#include <LocalPlanner.h>

Classes
struct	Options
	Aggregated configuration. Mirrors the `opt_dict` in local_planner.py. More...

Public Types
using	PlanItem = std::pair< SharedPtr< client::Waypoint >, RoadOption >

Public Member Functions
bool	Done () const
	True when the queue is empty.

void	FollowSpeedLimits (bool value=true)
	Toggle automatic following of road speed limits.

std::pair< SharedPtr< client::Waypoint >, RoadOption >	GetIncomingWaypointAndDirection (int steps=3) const
	Peek `steps` ahead in the queue, falling back to the last entry if the queue is too short.

const std::deque< PlanItem > &	GetPlan () const
	Read-only view of the queued plan.

	LocalPlanner (SharedPtr< client::Vehicle > vehicle, const Options &opt=DefaultOptions(), SharedPtr< client::Map > map=nullptr)

void	ResetVehicle ()
	Drop the vehicle reference (mirrors `reset_vehicle`).

rpc::VehicleControl	RunStep (bool debug=false)
	Drive one tick. Returns the VehicleControl to apply.

void	SetGlobalPlan (const std::vector< PlanItem > &plan, bool stop_waypoint_creation=true, bool clean_queue=true)
	Replace (or append to) the waypoint queue.

void	SetOffset (float offset)
	Apply a lateral offset to the underlying PID controller.

void	SetSpeed (float speed_kmh)
	Override the target speed in km/h.

RoadOption	TargetRoadOption () const
	Currently active target RoadOption (mirrors `target_road_option`).

SharedPtr< client::Waypoint >	TargetWaypoint () const
	Currently active target waypoint (mirrors `target_waypoint`).

Static Public Member Functions
static Options	DefaultOptions ()
	Construct a LocalPlanner.

Private Member Functions
void	ComputeNextWaypoints (std::size_t k)
	Append up to k waypoints to the back of the queue, branching with random choice on intersections (mirrors `_compute_next_waypoints`).

void	InitController ()
	Build the VehiclePIDController and seed the queue with the vehicle's current waypoint.

Private Attributes
float	_base_min_distance

float	_distance_ratio

float	_dt

bool	_follow_speed_limits

VehiclePIDController::LateralArgs	_lateral_args

VehiclePIDController::LongitudinalArgs	_longitudinal_args

SharedPtr< client::Map >	_map

float	_max_brake

std::size_t	_max_queue_size = 10000

float	_max_steering

float	_max_throttle

std::size_t	_min_queue_length = 100

float	_offset

std::mt19937	_rng

float	_sampling_radius

bool	_stop_waypoint_creation = false

RoadOption	_target_road_option = RoadOption::Void

float	_target_speed

SharedPtr< client::Waypoint >	_target_waypoint

SharedPtr< client::Vehicle >	_vehicle

std::unique_ptr< VehiclePIDController >	_vehicle_controller

std::deque< PlanItem >	_waypoints_queue

Detailed Description

LocalPlanner reproduces agents.navigation.local_planner.LocalPlanner.

It maintains a queue of (waypoint, RoadOption) pairs, refills it as needed, and drives the vehicle along it via a VehiclePIDController.

Definition at line 33 of file LocalPlanner.h.

Member Typedef Documentation

◆ PlanItem

using carla::agents::navigation::LocalPlanner::PlanItem = std::pair<SharedPtr<client::Waypoint>, RoadOption>

Definition at line 35 of file LocalPlanner.h.

Constructor & Destructor Documentation

◆ LocalPlanner()

carla::agents::navigation::LocalPlanner::LocalPlanner	(	SharedPtr< client::Vehicle >	vehicle,
		const Options &	opt = `DefaultOptions()`,
		SharedPtr< client::Map >	map = `nullptr`
	)

Definition at line 80 of file LocalPlanner.cpp.

References _map, _vehicle, and InitController().

Member Function Documentation

◆ ComputeNextWaypoints()

void carla::agents::navigation::LocalPlanner::ComputeNextWaypoints ( std::size_t k )

private

Append up to k waypoints to the back of the queue, branching with random choice on intersections (mirrors _compute_next_waypoints).

Definition at line 141 of file LocalPlanner.cpp.

References _max_queue_size, _rng, _sampling_radius, _waypoints_queue, and carla::agents::navigation::LaneFollow.

Referenced by RunStep().

◆ DefaultOptions()

LocalPlanner::Options carla::agents::navigation::LocalPlanner::DefaultOptions ( )

inlinestatic

Construct a LocalPlanner.

If map is null we pull the map from the vehicle's world (matches the Python map_inst fallback). Returns a value-initialized Options. Defined out-of-line because GCC's default-arg parser refuses = {} / = Options() when the struct inherits from another aggregate with default member initializers.

Definition at line 148 of file LocalPlanner.h.

Referenced by TEST().

◆ Done()

bool carla::agents::navigation::LocalPlanner::Done ( ) const

True when the queue is empty.

Definition at line 285 of file LocalPlanner.cpp.

References _waypoints_queue.

◆ FollowSpeedLimits()

void carla::agents::navigation::LocalPlanner::FollowSpeedLimits ( bool value = true )

Toggle automatic following of road speed limits.

Definition at line 137 of file LocalPlanner.cpp.

References _follow_speed_limits.

◆ GetIncomingWaypointAndDirection()

std::pair< SharedPtr< client::Waypoint >, RoadOption > carla::agents::navigation::LocalPlanner::GetIncomingWaypointAndDirection ( int steps = 3 ) const

Peek steps ahead in the queue, falling back to the last entry if the queue is too short.

Returns (nullptr, RoadOption::Void) when the queue is empty.

Definition at line 270 of file LocalPlanner.cpp.

References _waypoints_queue, and carla::agents::navigation::Void.

◆ GetPlan()

const std::deque< LocalPlanner::PlanItem > & carla::agents::navigation::LocalPlanner::GetPlan ( ) const

Read-only view of the queued plan.

Definition at line 281 of file LocalPlanner.cpp.

References _waypoints_queue.

◆ InitController()

void carla::agents::navigation::LocalPlanner::InitController ( )

private

Build the VehiclePIDController and seed the queue with the vehicle's current waypoint.

Called from the constructor.

Definition at line 107 of file LocalPlanner.cpp.

References _lateral_args, _longitudinal_args, _map, _max_brake, _max_steering, _max_throttle, _offset, _target_road_option, _target_waypoint, _vehicle, _vehicle_controller, _waypoints_queue, and carla::agents::navigation::LaneFollow.

Referenced by LocalPlanner().

◆ ResetVehicle()

void carla::agents::navigation::LocalPlanner::ResetVehicle ( )

Drop the vehicle reference (mirrors reset_vehicle).

Definition at line 125 of file LocalPlanner.cpp.

References _vehicle.

◆ RunStep()

rpc::VehicleControl carla::agents::navigation::LocalPlanner::RunStep ( bool debug = false )

Drive one tick. Returns the VehicleControl to apply.

Definition at line 212 of file LocalPlanner.cpp.

References _base_min_distance, _distance_ratio, _follow_speed_limits, _min_queue_length, _stop_waypoint_creation, _target_road_option, _target_speed, _target_waypoint, _vehicle, _vehicle_controller, _waypoints_queue, carla::rpc::VehicleControl::brake, ComputeNextWaypoints(), carla::agents::navigation::DrawWaypoints(), carla::agents::navigation::GetSpeed(), carla::rpc::VehicleControl::hand_brake, carla::rpc::VehicleControl::manual_gear_shift, carla::rpc::VehicleControl::steer, and carla::rpc::VehicleControl::throttle.

◆ SetGlobalPlan()

void carla::agents::navigation::LocalPlanner::SetGlobalPlan	(	const std::vector< PlanItem > &	plan,
		bool	stop_waypoint_creation = `true`,
		bool	clean_queue = `true`
	)

Replace (or append to) the waypoint queue.

Definition at line 183 of file LocalPlanner.cpp.

References _max_queue_size, _stop_waypoint_creation, and _waypoints_queue.

◆ SetOffset()

void carla::agents::navigation::LocalPlanner::SetOffset ( float offset )

Apply a lateral offset to the underlying PID controller.

Definition at line 205 of file LocalPlanner.cpp.

References _offset, and _vehicle_controller.

◆ SetSpeed()

void carla::agents::navigation::LocalPlanner::SetSpeed ( float speed_kmh )

Override the target speed in km/h.

Definition at line 129 of file LocalPlanner.cpp.

References _follow_speed_limits, and _target_speed.

◆ TargetRoadOption()

RoadOption carla::agents::navigation::LocalPlanner::TargetRoadOption ( ) const

Currently active target RoadOption (mirrors target_road_option).

Definition at line 293 of file LocalPlanner.cpp.

References _target_road_option.

◆ TargetWaypoint()

SharedPtr< client::Waypoint > carla::agents::navigation::LocalPlanner::TargetWaypoint ( ) const

Currently active target waypoint (mirrors target_waypoint).

Definition at line 289 of file LocalPlanner.cpp.

References _target_waypoint.

Member Data Documentation

◆ _base_min_distance

float carla::agents::navigation::LocalPlanner::_base_min_distance

private

Definition at line 140 of file LocalPlanner.h.

Referenced by RunStep().

◆ _distance_ratio

float carla::agents::navigation::LocalPlanner::_distance_ratio

private

Definition at line 141 of file LocalPlanner.h.

Referenced by RunStep().

◆ _dt

float carla::agents::navigation::LocalPlanner::_dt

private

Definition at line 131 of file LocalPlanner.h.

◆ _follow_speed_limits

bool carla::agents::navigation::LocalPlanner::_follow_speed_limits

private

Definition at line 142 of file LocalPlanner.h.

Referenced by FollowSpeedLimits(), RunStep(), and SetSpeed().

◆ _lateral_args

VehiclePIDController::LateralArgs carla::agents::navigation::LocalPlanner::_lateral_args

private

Definition at line 134 of file LocalPlanner.h.

Referenced by InitController().

◆ _longitudinal_args

VehiclePIDController::LongitudinalArgs carla::agents::navigation::LocalPlanner::_longitudinal_args

private

Definition at line 135 of file LocalPlanner.h.

Referenced by InitController().

◆ _map

SharedPtr<client::Map> carla::agents::navigation::LocalPlanner::_map

private

Definition at line 118 of file LocalPlanner.h.

Referenced by InitController(), and LocalPlanner().

◆ _max_brake

float carla::agents::navigation::LocalPlanner::_max_brake

private

Definition at line 137 of file LocalPlanner.h.

Referenced by InitController().

◆ _max_queue_size

std::size_t carla::agents::navigation::LocalPlanner::_max_queue_size = 10000

private

Definition at line 126 of file LocalPlanner.h.

Referenced by ComputeNextWaypoints(), and SetGlobalPlan().

◆ _max_steering

float carla::agents::navigation::LocalPlanner::_max_steering

private

Definition at line 138 of file LocalPlanner.h.

Referenced by InitController().

◆ _max_throttle

float carla::agents::navigation::LocalPlanner::_max_throttle

private

Definition at line 136 of file LocalPlanner.h.

Referenced by InitController().

◆ _min_queue_length

std::size_t carla::agents::navigation::LocalPlanner::_min_queue_length = 100

private

Definition at line 127 of file LocalPlanner.h.

Referenced by RunStep().

◆ _offset

float carla::agents::navigation::LocalPlanner::_offset

private

Definition at line 139 of file LocalPlanner.h.

Referenced by InitController(), and SetOffset().

◆ _rng

std::mt19937 carla::agents::navigation::LocalPlanner::_rng

mutableprivate

Definition at line 145 of file LocalPlanner.h.

Referenced by ComputeNextWaypoints().

◆ _sampling_radius

float carla::agents::navigation::LocalPlanner::_sampling_radius

private

Definition at line 133 of file LocalPlanner.h.

Referenced by ComputeNextWaypoints().

◆ _stop_waypoint_creation

bool carla::agents::navigation::LocalPlanner::_stop_waypoint_creation = false

private

Definition at line 128 of file LocalPlanner.h.

Referenced by RunStep(), and SetGlobalPlan().

◆ _target_road_option

RoadOption carla::agents::navigation::LocalPlanner::_target_road_option = RoadOption::Void

private

Definition at line 123 of file LocalPlanner.h.

Referenced by InitController(), RunStep(), and TargetRoadOption().

◆ _target_speed

float carla::agents::navigation::LocalPlanner::_target_speed

private

Definition at line 132 of file LocalPlanner.h.

Referenced by RunStep(), and SetSpeed().

◆ _target_waypoint

SharedPtr<client::Waypoint> carla::agents::navigation::LocalPlanner::_target_waypoint

private

Definition at line 122 of file LocalPlanner.h.

Referenced by InitController(), RunStep(), and TargetWaypoint().

◆ _vehicle

SharedPtr<client::Vehicle> carla::agents::navigation::LocalPlanner::_vehicle

private

Definition at line 117 of file LocalPlanner.h.

Referenced by InitController(), LocalPlanner(), ResetVehicle(), and RunStep().

◆ _vehicle_controller

std::unique_ptr<VehiclePIDController> carla::agents::navigation::LocalPlanner::_vehicle_controller

private

Definition at line 120 of file LocalPlanner.h.

Referenced by InitController(), RunStep(), and SetOffset().

◆ _waypoints_queue

std::deque<PlanItem> carla::agents::navigation::LocalPlanner::_waypoints_queue

private

Definition at line 125 of file LocalPlanner.h.

Referenced by ComputeNextWaypoints(), Done(), GetIncomingWaypointAndDirection(), GetPlan(), InitController(), RunStep(), and SetGlobalPlan().

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ PlanItem

Constructor & Destructor Documentation

◆ LocalPlanner()

Member Function Documentation

◆ ComputeNextWaypoints()

◆ DefaultOptions()

◆ Done()

◆ FollowSpeedLimits()

◆ GetIncomingWaypointAndDirection()

◆ GetPlan()

◆ InitController()

◆ ResetVehicle()

◆ RunStep()

◆ SetGlobalPlan()

◆ SetOffset()

◆ SetSpeed()

◆ TargetRoadOption()

◆ TargetWaypoint()

Member Data Documentation

◆ _base_min_distance

◆ _distance_ratio

◆ _dt

◆ _follow_speed_limits

◆ _lateral_args

◆ _longitudinal_args

◆ _map

◆ _max_brake

◆ _max_queue_size

◆ _max_steering

◆ _max_throttle

◆ _min_queue_length

◆ _offset

◆ _rng

◆ _sampling_radius

◆ _stop_waypoint_creation

◆ _target_road_option

◆ _target_speed

◆ _target_waypoint

◆ _vehicle

◆ _vehicle_controller

◆ _waypoints_queue