class implementing the actual RSS checks based on CARLA world description More...

#include <RssCheck.h>

Collaboration diagram for carla::rss::RssCheck:

Classes
struct	CarlaRssState
	struct collecting the rss states required More...

class	RssObjectChecker

Public Types
using	ActorConstellationCallbackFunctionType = std::function<::carla::rss::ActorConstellationResult(carla::SharedPtr< ActorConstellationData >)>

Public Member Functions
void	AppendRoutingTarget (const ::carla::geom::Transform &routing_target)
	appends a routing target to the current routing target list ( More...

bool	CheckObjects (carla::client::Timestamp const &timestamp, carla::SharedPtr< carla::client::ActorList > const &actors, carla::SharedPtr< carla::client::Actor > const &carla_ego_actor, ::ad::rss::state::ProperResponse &output_response, ::ad::rss::state::RssStateSnapshot &output_rss_state_snapshot, ::ad::rss::situation::SituationSnapshot &output_situation_snapshot, ::ad::rss::world::WorldModel &output_world_model, EgoDynamicsOnRoute &output_rss_ego_dynamics_on_route)
	main function to trigger the RSS check at a certain point in time More...

void	DropRoute ()
	drop the current route More...

const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackEgoVehicleDynamics () const

const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackOtherVehicleDynamics () const

const ::ad::rss::world::RssDynamics &	GetDefaultActorConstellationCallbackPedestrianDynamics () const

std::shared_ptr< spdlog::logger >	GetLogger ()
	get the logger of this More...

const ::carla::rss::RoadBoundariesMode &	GetRoadBoundariesMode () const

const std::vector<::carla::geom::Transform >	GetRoutingTargets () const

void	ResetRoutingTargets ()
	resets the current routing targets ( More...

	RssCheck (float max_steering_angle)
	default constructor with default internal default actor constellation callback More...

	RssCheck (float max_steering_angle, ActorConstellationCallbackFunctionType rss_actor_constellation_callback, carla::SharedPtr< carla::client::Actor > const &carla_ego_actor)
	constructor with actor constellation callback More...

void	SetDefaultActorConstellationCallbackEgoVehicleDynamics (const ::ad::rss::world::RssDynamics &ego_vehicle_dynamics)
	sets the vehicle dynamics to be used for the ego vehicle More...

void	SetDefaultActorConstellationCallbackOtherVehicleDynamics (const ::ad::rss::world::RssDynamics &other_vehicle_dynamics)
	sets the vehicle dynamics to be used for other vehicles More...

void	SetDefaultActorConstellationCallbackPedestrianDynamics (const ::ad::rss::world::RssDynamics &pedestrian_dynamics)
	sets the dynamics to be used for pedestrians More...

void	SetLogLevel (const spdlog::level::level_enum &log_level)
	sets the current log level More...

void	SetMapLogLevel (const spdlog::level::level_enum &map_log_level)
	sets the current log level More...

void	SetRoadBoundariesMode (const ::carla::rss::RoadBoundariesMode &road_boundaries_mode)
	sets the current mode for respecting the road boundaries ( More...

	~RssCheck ()
	destructor More...

Static Public Member Functions
::ad::rss::world::RssDynamics	GetDefaultPedestrianDynamics ()

static RoadBoundariesMode	GetDefaultRoadBoundariesMode ()

::ad::rss::world::RssDynamics	GetDefaultVehicleDynamics ()

Private Member Functions
void	AnalyseCheckResults (CarlaRssState &carla_rss_state) const
	Analyse the RSS check results. More...

EgoDynamicsOnRoute	CalculateEgoDynamicsOnRoute (carla::client::Timestamp const &current_timestamp, double const &time_since_epoch_check_start_ms, carla::client::Vehicle const &carla_vehicle, ::ad::map::match::Object match_object, ::ad::map::route::FullRoute const &route, ::ad::rss::world::RssDynamics const &default_ego_vehicle_dynamics, EgoDynamicsOnRoute const &last_dynamics) const
	calculate ego vehicle dynamics on the route More...

void	CreateWorldModel (carla::client::Timestamp const &timestamp, carla::client::ActorList const &actors, carla::client::Vehicle const &carla_ego_vehicle, CarlaRssState &carla_rss_state) const
	Create the RSS world model. More...

::ad::map::landmark::LandmarkIdSet	GetGreenTrafficLightsOnRoute (std::vector< SharedPtr< carla::client::TrafficLight >> const &traffic_lights, ::ad::map::route::FullRoute const &route) const
	collect the green traffic lights on the current route More...

::ad::physics::AngularVelocity	GetHeadingChange (carla::client::Actor const &actor) const
	calculate the heading change from the actor More...

::ad::map::match::Object	GetMatchObject (carla::SharedPtr< carla::client::Actor > const &actor, ::ad::physics::Distance const &sampling_distance) const
	calculate the map matched object from the actor More...

::ad::physics::Speed	GetSpeed (carla::client::Actor const &actor) const
	calculate the speed from the actor More...

::ad::physics::Angle	GetSteeringAngle (carla::client::Vehicle const &actor) const
	calculate the steering angle from the actor More...

bool	PerformCheck (CarlaRssState &carla_rss_state) const
	Perform the actual RSS check. More...

void	UpdateDefaultRssDynamics (CarlaRssState &carla_rss_state)

void	UpdateRoute (CarlaRssState &carla_rss_state)
	update the desired ego vehicle route More...

Private Attributes
ActorConstellationCallbackFunctionType	_actor_constellation_callback
	the current actor constellation callback More...

CarlaRssState	_carla_rss_state
	the current state of the ego vehicle More...

::ad::rss::world::RssDynamics	_default_actor_constellation_callback_ego_vehicle_dynamics
	current used vehicle dynamics for ego vehicle by the default actor constellation callback More...

::ad::rss::world::RssDynamics	_default_actor_constellation_callback_other_vehicle_dynamics
	current used vehicle dynamics for other vehicle by the default actor constellation callback More...

::ad::rss::world::RssDynamics	_default_actor_constellation_callback_pedestrian_dynamics
	current used vehicle dynamics for pedestrians by the default actor constellation callback More...

std::shared_ptr< spdlog::logger >	_logger
	standard logger More...

float	_maximum_steering_angle
	maximum steering angle More...

::carla::rss::RoadBoundariesMode	_road_boundaries_mode
	current used road boundaries mode More...

std::vector<::ad::map::point::ENUPoint >	_routing_targets
	current used routing targets More...

std::vector<::ad::map::point::ENUPoint >	_routing_targets_to_append
	routing targets to be appended next run More...

std::shared_ptr< spdlog::logger >	_timing_logger
	logger for timing log messages More...

Friends
class	RssObjectChecker

Detailed Description

class implementing the actual RSS checks based on CARLA world description

Definition at line 132 of file RssCheck.h.

Member Typedef Documentation

◆ ActorConstellationCallbackFunctionType

using carla::rss::RssCheck::ActorConstellationCallbackFunctionType = std::function<::carla::rss::ActorConstellationResult(carla::SharedPtr<ActorConstellationData>)>

Definition at line 135 of file RssCheck.h.

Constructor & Destructor Documentation

◆ RssCheck() [1/2]

carla::rss::RssCheck::RssCheck ( float max_steering_angle )

default constructor with default internal default actor constellation callback

Definition at line 127 of file RssCheck.cpp.

References _actor_constellation_callback, _carla_rss_state, _default_actor_constellation_callback_ego_vehicle_dynamics, _default_actor_constellation_callback_other_vehicle_dynamics, _default_actor_constellation_callback_pedestrian_dynamics, _logger, _timing_logger, carla::rss::ActorConstellationResult::actor_dynamics, carla::rss::ActorConstellationResult::actor_object_type, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::ActorConstellationResult::ego_vehicle_dynamics, GetDefaultPedestrianDynamics(), GetDefaultVehicleDynamics(), carla::rss::getLogger(), GetSpeed(), carla::rss::getTimingLogger(), Invalid, min(), carla::traffic_manager::Pedestrian, carla::rss::ActorConstellationResult::restrict_speed_limit_mode, carla::rss::ActorConstellationResult::rss_calculation_mode, SetLogLevel(), and SetMapLogLevel().

Here is the call graph for this function:

◆ RssCheck() [2/2]

carla::rss::RssCheck::RssCheck	(	float	max_steering_angle,
		ActorConstellationCallbackFunctionType	rss_actor_constellation_callback,
		carla::SharedPtr< carla::client::Actor > const &	carla_ego_actor
	)

constructor with actor constellation callback

Definition at line 201 of file RssCheck.cpp.

References _carla_rss_state, _logger, _timing_logger, carla::rss::RssCheck::CarlaRssState::ego_match_object, carla::rss::getLogger(), GetMatchObject(), carla::rss::getTimingLogger(), SetLogLevel(), SetMapLogLevel(), and UpdateDefaultRssDynamics().

Here is the call graph for this function:

◆ ~RssCheck()

carla::rss::RssCheck::~RssCheck ( )

destructor

Definition at line 220 of file RssCheck.cpp.

Member Function Documentation

◆ AnalyseCheckResults()

void carla::rss::RssCheck::AnalyseCheckResults ( CarlaRssState & carla_rss_state ) const

private

Analyse the RSS check results.

Definition at line 945 of file RssCheck.cpp.

Referenced by CheckObjects().

Here is the caller graph for this function:

◆ AppendRoutingTarget()

void carla::rss::RssCheck::AppendRoutingTarget ( const ::carla::geom::Transform & routing_target )

appends a routing target to the current routing target list (

See also: also RssSensor::AppendRoutingTargets())

Definition at line 267 of file RssCheck.cpp.

References _routing_targets_to_append, carla::geom::Transform::location, carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

◆ CalculateEgoDynamicsOnRoute()

EgoDynamicsOnRoute carla::rss::RssCheck::CalculateEgoDynamicsOnRoute	(	carla::client::Timestamp const &	current_timestamp,
		double const &	time_since_epoch_check_start_ms,
		carla::client::Vehicle const &	carla_vehicle,
		::ad::map::match::Object	match_object,
		::ad::map::route::FullRoute const &	route,
		::ad::rss::world::RssDynamics const &	default_ego_vehicle_dynamics,
		EgoDynamicsOnRoute const &	last_dynamics
	)		const

private

calculate ego vehicle dynamics on the route

Definition at line 599 of file RssCheck.cpp.

Referenced by CheckObjects().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ CheckObjects()

bool carla::rss::RssCheck::CheckObjects	(	carla::client::Timestamp const &	timestamp,
		carla::SharedPtr< carla::client::ActorList > const &	actors,
		carla::SharedPtr< carla::client::Actor > const &	carla_ego_actor,
		::ad::rss::state::ProperResponse &	output_response,
		::ad::rss::state::RssStateSnapshot &	output_rss_state_snapshot,
		::ad::rss::situation::SituationSnapshot &	output_situation_snapshot,
		::ad::rss::world::WorldModel &	output_world_model,
		EgoDynamicsOnRoute &	output_rss_ego_dynamics_on_route
	)

main function to trigger the RSS check at a certain point in time

This function has to be called cyclic with increasing timestamps to ensure proper RSS evaluation.

Definition at line 296 of file RssCheck.cpp.

Here is the call graph for this function:

◆ CreateWorldModel()

void carla::rss::RssCheck::CreateWorldModel	(	carla::client::Timestamp const &	timestamp,
		carla::client::ActorList const &	actors,
		carla::client::Vehicle const &	carla_ego_vehicle,
		CarlaRssState &	carla_rss_state
	)		const

private

Create the RSS world model.

Definition at line 867 of file RssCheck.cpp.

References carla::rss::RssCheck::RssObjectChecker::_carla_rss_state, _road_boundaries_mode, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::EgoDynamicsOnRoute::ego_heading_change, carla::rss::RssCheck::CarlaRssState::ego_match_object, carla::rss::RssCheck::CarlaRssState::ego_route, carla::rss::EgoDynamicsOnRoute::ego_speed, carla::rss::EgoDynamicsOnRoute::ego_steering_angle, carla::client::Timestamp::frame, GetGreenTrafficLightsOnRoute(), carla::client::detail::ActorState::GetId(), carla::client::Actor::GetTransform(), carla::geom::Transform::location, carla::rss::EgoDynamicsOnRoute::min_stopping_distance, carla::rss::Off, carla::rss::RssCheck::RssObjectChecker::RssObjectChecker(), and carla::rss::RssCheck::CarlaRssState::world_model.

Referenced by CheckObjects().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ DropRoute()

void carla::rss::RssCheck::DropRoute ( )

drop the current route

Afterwards a new route is selected randomly (if multiple routes are possible).

Definition at line 291 of file RssCheck.cpp.

References _carla_rss_state, _logger, and carla::rss::RssCheck::CarlaRssState::ego_route.

Referenced by CheckObjects().

Here is the caller graph for this function:

◆ GetDefaultActorConstellationCallbackEgoVehicleDynamics()

const ::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackEgoVehicleDynamics ( ) const

Returns: the used vehicle dynamics for ego vehicle

Definition at line 232 of file RssCheck.cpp.

References _default_actor_constellation_callback_ego_vehicle_dynamics.

◆ GetDefaultActorConstellationCallbackOtherVehicleDynamics()

const ::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackOtherVehicleDynamics ( ) const

Returns: the used vehicle dynamics for other vehicles

Definition at line 241 of file RssCheck.cpp.

References _default_actor_constellation_callback_other_vehicle_dynamics.

◆ GetDefaultActorConstellationCallbackPedestrianDynamics()

const ::ad::rss::world::RssDynamics & carla::rss::RssCheck::GetDefaultActorConstellationCallbackPedestrianDynamics ( ) const

Returns: the used vehicle dynamics for pedestrians

Definition at line 250 of file RssCheck.cpp.

References _default_actor_constellation_callback_pedestrian_dynamics.

◆ GetDefaultPedestrianDynamics()

ad::rss::world::RssDynamics carla::rss::RssCheck::GetDefaultPedestrianDynamics ( )

static

Returns: the default pedestrian dynamics

Definition at line 107 of file RssCheck.cpp.

Referenced by carla::client::RssSensor::GetPedestrianDynamics(), and RssCheck().

Here is the caller graph for this function:

◆ GetDefaultRoadBoundariesMode()

static RoadBoundariesMode carla::rss::RssCheck::GetDefaultRoadBoundariesMode ( )

inlinestatic

Returns: the default road boundaries mode

Definition at line 217 of file RssCheck.h.

References carla::rss::Off.

Referenced by carla::client::RssSensor::GetRoadBoundariesMode().

Here is the caller graph for this function:

◆ GetDefaultVehicleDynamics()

ad::rss::world::RssDynamics carla::rss::RssCheck::GetDefaultVehicleDynamics ( )

static

Returns: the default vehicle dynamics

Definition at line 88 of file RssCheck.cpp.

Referenced by carla::client::RssSensor::GetEgoVehicleDynamics(), carla::client::RssSensor::GetOtherVehicleDynamics(), and RssCheck().

Here is the caller graph for this function:

◆ GetGreenTrafficLightsOnRoute()

ad::map::landmark::LandmarkIdSet carla::rss::RssCheck::GetGreenTrafficLightsOnRoute	(	std::vector< SharedPtr< carla::client::TrafficLight >> const &	traffic_lights,
		::ad::map::route::FullRoute const &	route
	)		const

private

collect the green traffic lights on the current route

Definition at line 732 of file RssCheck.cpp.

References _logger, carla::rpc::Green, carla::geom::BoundingBox::location, TrafficLight, and carla::geom::Vector3D::x.

Referenced by CreateWorldModel().

Here is the caller graph for this function:

◆ GetHeadingChange()

ad::physics::AngularVelocity carla::rss::RssCheck::GetHeadingChange ( carla::client::Actor const & actor ) const

private

calculate the heading change from the actor

Definition at line 466 of file RssCheck.cpp.

References carla::client::Actor::GetAngularVelocity().

Referenced by CalculateEgoDynamicsOnRoute(), and carla::rss::RssCheck::RssObjectChecker::operator()().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ GetLogger()

std::shared_ptr<spdlog::logger> carla::rss::RssCheck::GetLogger ( )

inline

get the logger of this

Definition at line 148 of file RssCheck.h.

◆ GetMatchObject()

ad::map::match::Object carla::rss::RssCheck::GetMatchObject	(	carla::SharedPtr< carla::client::Actor > const &	actor,
		::ad::physics::Distance const &	sampling_distance
	)		const

private

calculate the map matched object from the actor

Definition at line 418 of file RssCheck.cpp.

References _logger, and carla::client::detail::ActorState::GetBoundingBox().

Referenced by CheckObjects(), carla::rss::RssCheck::RssObjectChecker::operator()(), and RssCheck().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ GetRoadBoundariesMode()

const ::carla::rss::RoadBoundariesMode & carla::rss::RssCheck::GetRoadBoundariesMode ( ) const

Returns: the current mode for respecting the road boundaries (

See also: also RssSensor::GetRoadBoundariesMode())

Definition at line 259 of file RssCheck.cpp.

References _road_boundaries_mode.

◆ GetRoutingTargets()

const std::vector<::carla::geom::Transform > carla::rss::RssCheck::GetRoutingTargets ( ) const

Returns: the current routing targets (

See also: also RssSensor::GetRoutingTargets())

Definition at line 272 of file RssCheck.cpp.

References _routing_targets, carla::geom::Transform::location, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

◆ GetSpeed()

ad::physics::Speed carla::rss::RssCheck::GetSpeed ( carla::client::Actor const & actor ) const

private

calculate the speed from the actor

Definition at line 453 of file RssCheck.cpp.

References carla::client::Actor::GetTransform(), carla::client::Actor::GetVelocity(), carla::geom::Rotation::InverseRotateVector(), and carla::geom::Transform::rotation.

Referenced by CalculateEgoDynamicsOnRoute(), carla::rss::RssCheck::RssObjectChecker::operator()(), and RssCheck().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ GetSteeringAngle()

ad::physics::Angle carla::rss::RssCheck::GetSteeringAngle ( carla::client::Vehicle const & actor ) const

private

calculate the steering angle from the actor

Definition at line 472 of file RssCheck.cpp.

References _maximum_steering_angle, carla::client::Vehicle::GetControl(), and carla::rpc::VehicleControl::steer.

Referenced by CalculateEgoDynamicsOnRoute().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ PerformCheck()

bool carla::rss::RssCheck::PerformCheck ( CarlaRssState & carla_rss_state ) const

private

Perform the actual RSS check.

Definition at line 931 of file RssCheck.cpp.

References _logger, carla::rss::RssCheck::CarlaRssState::proper_response, carla::rss::RssCheck::CarlaRssState::rss_check, carla::rss::RssCheck::CarlaRssState::rss_state_snapshot, carla::rss::RssCheck::CarlaRssState::situation_snapshot, and carla::rss::RssCheck::CarlaRssState::world_model.

Referenced by CheckObjects().

Here is the caller graph for this function:

◆ ResetRoutingTargets()

void carla::rss::RssCheck::ResetRoutingTargets ( )

resets the current routing targets (

See also: also RssSensor::ResetRoutingTargets())

Definition at line 286 of file RssCheck.cpp.

References _routing_targets, and _routing_targets_to_append.

◆ SetDefaultActorConstellationCallbackEgoVehicleDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackEgoVehicleDynamics ( const ::ad::rss::world::RssDynamics & ego_vehicle_dynamics )

sets the vehicle dynamics to be used for the ego vehicle

Definition at line 236 of file RssCheck.cpp.

References _default_actor_constellation_callback_ego_vehicle_dynamics.

◆ SetDefaultActorConstellationCallbackOtherVehicleDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackOtherVehicleDynamics ( const ::ad::rss::world::RssDynamics & other_vehicle_dynamics )

sets the vehicle dynamics to be used for other vehicles

Definition at line 245 of file RssCheck.cpp.

References _default_actor_constellation_callback_other_vehicle_dynamics.

◆ SetDefaultActorConstellationCallbackPedestrianDynamics()

void carla::rss::RssCheck::SetDefaultActorConstellationCallbackPedestrianDynamics ( const ::ad::rss::world::RssDynamics & pedestrian_dynamics )

sets the dynamics to be used for pedestrians

Definition at line 254 of file RssCheck.cpp.

References _default_actor_constellation_callback_pedestrian_dynamics.

◆ SetLogLevel()

void carla::rss::RssCheck::SetLogLevel ( const spdlog::level::level_enum & log_level )

sets the current log level

Definition at line 222 of file RssCheck.cpp.

References _logger.

Referenced by RssCheck().

Here is the caller graph for this function:

◆ SetMapLogLevel()

void carla::rss::RssCheck::SetMapLogLevel ( const spdlog::level::level_enum & map_log_level )

sets the current log level

Definition at line 227 of file RssCheck.cpp.

References carla::rss::getLogger().

Referenced by RssCheck().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ SetRoadBoundariesMode()

void carla::rss::RssCheck::SetRoadBoundariesMode ( const ::carla::rss::RoadBoundariesMode & road_boundaries_mode )

sets the current mode for respecting the road boundaries (

See also: also RssSensor::SetRoadBoundariesMode())

Definition at line 263 of file RssCheck.cpp.

References _road_boundaries_mode.

◆ UpdateDefaultRssDynamics()

void carla::rss::RssCheck::UpdateDefaultRssDynamics ( CarlaRssState & carla_rss_state )

private

Definition at line 723 of file RssCheck.cpp.

References _actor_constellation_callback, carla::rss::RssCheck::CarlaRssState::default_ego_vehicle_dynamics, carla::rss::RssCheck::CarlaRssState::ego_dynamics_on_route, carla::rss::RssCheck::CarlaRssState::ego_match_object, and carla::rss::RssCheck::CarlaRssState::ego_route.

Referenced by CheckObjects(), and RssCheck().

Here is the caller graph for this function:

◆ UpdateRoute()

void carla::rss::RssCheck::UpdateRoute ( CarlaRssState & carla_rss_state )

private

update the desired ego vehicle route

Definition at line 478 of file RssCheck.cpp.

References _logger, _routing_targets, _routing_targets_to_append, carla::rss::RssCheck::CarlaRssState::ego_match_object, and carla::rss::RssCheck::CarlaRssState::ego_route.

Referenced by CheckObjects().

Here is the caller graph for this function:

Friends And Related Function Documentation

◆ RssObjectChecker

friend class RssObjectChecker

friend

Definition at line 298 of file RssCheck.h.

Member Data Documentation

◆ _actor_constellation_callback

ActorConstellationCallbackFunctionType carla::rss::RssCheck::_actor_constellation_callback

private

the current actor constellation callback

Definition at line 238 of file RssCheck.h.

Referenced by carla::rss::RssCheck::RssObjectChecker::operator()(), RssCheck(), and UpdateDefaultRssDynamics().

◆ _carla_rss_state

CarlaRssState carla::rss::RssCheck::_carla_rss_state

private

the current state of the ego vehicle

Definition at line 301 of file RssCheck.h.

Referenced by CheckObjects(), DropRoute(), and RssCheck().

◆ _default_actor_constellation_callback_ego_vehicle_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_ego_vehicle_dynamics

private

current used vehicle dynamics for ego vehicle by the default actor constellation callback

Definition at line 231 of file RssCheck.h.

Referenced by GetDefaultActorConstellationCallbackEgoVehicleDynamics(), RssCheck(), and SetDefaultActorConstellationCallbackEgoVehicleDynamics().

◆ _default_actor_constellation_callback_other_vehicle_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_other_vehicle_dynamics

private

current used vehicle dynamics for other vehicle by the default actor constellation callback

Definition at line 233 of file RssCheck.h.

Referenced by GetDefaultActorConstellationCallbackOtherVehicleDynamics(), RssCheck(), and SetDefaultActorConstellationCallbackOtherVehicleDynamics().

◆ _default_actor_constellation_callback_pedestrian_dynamics

::ad::rss::world::RssDynamics carla::rss::RssCheck::_default_actor_constellation_callback_pedestrian_dynamics

private

current used vehicle dynamics for pedestrians by the default actor constellation callback

Definition at line 235 of file RssCheck.h.

Referenced by GetDefaultActorConstellationCallbackPedestrianDynamics(), RssCheck(), and SetDefaultActorConstellationCallbackPedestrianDynamics().

◆ _logger

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

private

standard logger

Definition at line 223 of file RssCheck.h.

Referenced by AnalyseCheckResults(), CalculateEgoDynamicsOnRoute(), CheckObjects(), DropRoute(), GetGreenTrafficLightsOnRoute(), GetMatchObject(), carla::rss::RssCheck::RssObjectChecker::operator()(), PerformCheck(), RssCheck(), SetLogLevel(), and UpdateRoute().

◆ _maximum_steering_angle

float carla::rss::RssCheck::_maximum_steering_angle

private

maximum steering angle

Definition at line 228 of file RssCheck.h.

Referenced by GetSteeringAngle().

◆ _road_boundaries_mode

::carla::rss::RoadBoundariesMode carla::rss::RssCheck::_road_boundaries_mode

private

current used road boundaries mode

Definition at line 241 of file RssCheck.h.

Referenced by CreateWorldModel(), GetRoadBoundariesMode(), and SetRoadBoundariesMode().

◆ _routing_targets

std::vector<::ad::map::point::ENUPoint> carla::rss::RssCheck::_routing_targets

private

current used routing targets

Definition at line 243 of file RssCheck.h.

Referenced by GetRoutingTargets(), ResetRoutingTargets(), and UpdateRoute().

◆ _routing_targets_to_append

std::vector<::ad::map::point::ENUPoint> carla::rss::RssCheck::_routing_targets_to_append

private

routing targets to be appended next run

Definition at line 245 of file RssCheck.h.

Referenced by AppendRoutingTarget(), ResetRoutingTargets(), and UpdateRoute().

◆ _timing_logger

std::shared_ptr<spdlog::logger> carla::rss::RssCheck::_timing_logger

private

logger for timing log messages

Definition at line 225 of file RssCheck.h.

Referenced by RssCheck().

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

Friends

Detailed Description

Member Typedef Documentation

◆ ActorConstellationCallbackFunctionType

Constructor & Destructor Documentation

◆ RssCheck() [1/2]

◆ RssCheck() [2/2]

◆ ~RssCheck()

Member Function Documentation

◆ AnalyseCheckResults()

◆ AppendRoutingTarget()

◆ CalculateEgoDynamicsOnRoute()

◆ CheckObjects()

◆ CreateWorldModel()

◆ DropRoute()

◆ GetDefaultActorConstellationCallbackEgoVehicleDynamics()

◆ GetDefaultActorConstellationCallbackOtherVehicleDynamics()

◆ GetDefaultActorConstellationCallbackPedestrianDynamics()

◆ GetDefaultPedestrianDynamics()

◆ GetDefaultRoadBoundariesMode()

◆ GetDefaultVehicleDynamics()

◆ GetGreenTrafficLightsOnRoute()

◆ GetHeadingChange()

◆ GetLogger()

◆ GetMatchObject()

◆ GetRoadBoundariesMode()

◆ GetRoutingTargets()

◆ GetSpeed()

◆ GetSteeringAngle()

◆ PerformCheck()

◆ ResetRoutingTargets()

◆ SetDefaultActorConstellationCallbackEgoVehicleDynamics()

◆ SetDefaultActorConstellationCallbackOtherVehicleDynamics()

◆ SetDefaultActorConstellationCallbackPedestrianDynamics()

◆ SetLogLevel()

◆ SetMapLogLevel()

◆ SetRoadBoundariesMode()

◆ UpdateDefaultRssDynamics()

◆ UpdateRoute()

Friends And Related Function Documentation

◆ RssObjectChecker

Member Data Documentation

◆ _actor_constellation_callback

◆ _carla_rss_state

◆ _default_actor_constellation_callback_ego_vehicle_dynamics

◆ _default_actor_constellation_callback_other_vehicle_dynamics

◆ _default_actor_constellation_callback_pedestrian_dynamics

◆ _logger

◆ _maximum_steering_angle

◆ _road_boundaries_mode

◆ _routing_targets

◆ _routing_targets_to_append

◆ _timing_logger