C++ port of agents.navigation.constant_velocity_agent.ConstantVelocityAgent. More...

#include <ConstantVelocityAgent.h>

Inheritance diagram for carla::agents::navigation::ConstantVelocityAgent:

Classes
struct	ConstantOptions

Public Member Functions
	ConstantVelocityAgent (SharedPtr< client::Vehicle > vehicle, float target_speed_kmh=20.0f, const ConstantOptions &opts=DefaultConstantOptions(), SharedPtr< client::Map > map=nullptr, SharedPtr< GlobalRoutePlanner > grp=nullptr)

void	DestroySensor ()
	Tear down the collision sensor (called from the destructor too).

void	RestartConstantVelocity ()
	Re-enable constant velocity at the current `_target_speed_ms`.

rpc::VehicleControl	RunStep () override

void	SetTargetSpeed (float speed_kmh)
	Hides BasicAgent::SetTargetSpeed; converts km/h to m/s for the internal `_target_speed_ms` and forwards to the planner.

void	StopConstantVelocity ()
	Disables constant velocity mode and stamps the stop time.

	~ConstantVelocityAgent () override

Public Member Functions inherited from carla::agents::navigation::BasicAgent
rpc::VehicleControl	AddEmergencyStop (rpc::VehicleControl c) const
	Overwrites throttle/brake to perform an emergency stop.

	BasicAgent (SharedPtr< client::Vehicle > vehicle, float target_speed_kmh=20.0f, const Options &options=DefaultOptions(), SharedPtr< client::Map > map=nullptr, SharedPtr< GlobalRoutePlanner > grp=nullptr)

bool	Done () const

void	FollowSpeedLimits (bool value=true)

GlobalRoutePlanner *	GetGlobalPlanner ()

LocalPlanner *	GetLocalPlanner ()

void	IgnoreStopSigns (bool active=true)

void	IgnoreTrafficLights (bool active=true)

void	IgnoreVehicles (bool active=true)

void	LaneChange (const std::string &direction, float same_lane_time=0.0f, float other_lane_time=0.0f, float lane_change_time=2.0f)
	Replaces the current plan with one that performs a lane change.

void	SetDestination (const geom::Location &end, std::optional< geom::Location > start=std::nullopt)
	Computes a route from `start` (or the current target waypoint) to `end` and forwards it to the local planner.

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

void	SetOffset (float offset)

void	SetTargetSpeed (float speed_kmh)

std::vector< LocalPlanner::PlanItem >	TraceRoute (SharedPtr< client::Waypoint > start, SharedPtr< client::Waypoint > end)

virtual	~BasicAgent ()=default

Static Public Member Functions
static ConstantOptions	DefaultConstantOptions ()
	Out-of-line default factory; see LocalPlanner::DefaultOptions().

Static Public Member Functions inherited from carla::agents::navigation::BasicAgent
static Options	DefaultOptions ()
	Out-of-line default factory; see LocalPlanner::DefaultOptions().

Private Member Functions
void	SetCollisionSensor ()

void	SetConstantVelocity (float speed_ms)

Private Attributes
SharedPtr< client::Sensor >	_collision_sensor

double	_constant_velocity_stop_time

bool	_has_stop_timestamp

bool	_is_constant_velocity_active

float	_restart_time

float	_target_speed_ms

bool	_use_basic_behavior

Additional Inherited Members
Protected Member Functions inherited from carla::agents::navigation::BasicAgent
std::pair< bool, SharedPtr< client::TrafficLight > >	AffectedByTrafficLight (SharedPtr< client::ActorList > lights=nullptr, std::optional< float > max_distance=std::nullopt)
	Returns (affected, light) similar to Python `_affected_by_traffic_light`.

std::vector< LocalPlanner::PlanItem >	GenerateLaneChangePath (SharedPtr< client::Waypoint > waypoint, const std::string &direction="left", float distance_same_lane=10.0f, float distance_other_lane=25.0f, float lane_change_distance=25.0f, bool check=true, int lane_changes=1, float step_distance=2.0f)
	Mirrors Python `_generate_lane_change_path`.

VehicleObstacle	VehicleObstacleDetected (SharedPtr< client::ActorList > vehicles=nullptr, std::optional< float > max_distance=std::nullopt, float up_angle_th=90.0f, float low_angle_th=0.0f, int lane_offset=0)
	Mirrors Python `_vehicle_obstacle_detected`.

Protected Attributes inherited from carla::agents::navigation::BasicAgent
float	_base_tlight_threshold

float	_base_vehicle_threshold

SharedPtr< GlobalRoutePlanner >	_global_planner

bool	_ignore_stop_signs

bool	_ignore_traffic_lights

bool	_ignore_vehicles

SharedPtr< client::TrafficLight >	_last_traffic_light

SharedPtr< client::ActorList >	_lights_list

std::unordered_map< uint32_t, SharedPtr< client::Waypoint > >	_lights_map

std::unique_ptr< LocalPlanner >	_local_planner

SharedPtr< client::Map >	_map

float	_max_brake

float	_offset

float	_sampling_resolution

float	_speed_ratio

float	_target_speed

bool	_use_bbs_detection

SharedPtr< client::Vehicle >	_vehicle

SharedPtr< client::World >	_world

Detailed Description

C++ port of agents.navigation.constant_velocity_agent.ConstantVelocityAgent.

Drives the ego at a fixed velocity, using BasicAgent's planner just to keep the wheels rotating. A collision sensor is attached on construction and a collision flips the agent into a "stopped" state.

Definition at line 32 of file ConstantVelocityAgent.h.

Constructor & Destructor Documentation

◆ ConstantVelocityAgent()

carla::agents::navigation::ConstantVelocityAgent::ConstantVelocityAgent	(	SharedPtr< client::Vehicle >	vehicle,
		float	target_speed_kmh = `20.0f`,
		const ConstantOptions &	opts = `DefaultConstantOptions()`,
		SharedPtr< client::Map >	map = `nullptr`,
		SharedPtr< GlobalRoutePlanner >	grp = `nullptr`
	)