carla::nav::WalkerManager Class Reference

#include <WalkerManager.h>

Inheritance diagram for carla::nav::WalkerManager:

Collaboration diagram for carla::nav::WalkerManager:

Public Member Functions
bool	AddWalker (ActorId id)
	create a new walker route More...
Navigation *	GetNavigation ()
	return the navigation object More...
SharedPtr< carla::client::TrafficLight >	GetTrafficLightAffecting (carla::geom::Location UnrealPos, float max_distance=-1.0f)
	return the trafficlight affecting that position More...
bool	GetWalkerCrosswalkEnd (ActorId id, carla::geom::Location &location)
	get the point in the route that end current crosswalk More...
bool	GetWalkerNextPoint (ActorId id, carla::geom::Location &location)
	get the next point in the route More...
bool	RemoveWalker (ActorId id)
	remove a walker route More...
void	SetNav (Navigation *nav)
	assign the navigation module More...
void	SetSimulator (std::weak_ptr< carla::client::detail::Simulator > simulator)
	reference to the simulator to access API functions More...
bool	SetWalkerNextPoint (ActorId id)
	set the next point in the route More...
bool	SetWalkerRoute (ActorId id)
	set a new route from its current position More...
bool	SetWalkerRoute (ActorId id, carla::geom::Location to)
bool	Update (double delta)
	update all routes More...
	WalkerManager ()
	~WalkerManager ()

Private Member Functions
EventResult	ExecuteEvent (ActorId id, WalkerInfo &info, double delta)
void	GetAllTrafficLightWaypoints ()
Private Member Functions inherited from carla::NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
	NonCopyable (NonCopyable &&)=delete
NonCopyable &	operator= (const NonCopyable &)=delete
NonCopyable &	operator= (NonCopyable &&)=delete

Private Attributes
Navigation *	_nav { nullptr }
std::weak_ptr< carla::client::detail::Simulator >	_simulator
std::vector< std::pair< SharedPtr< carla::client::TrafficLight >, carla::geom::Location > >	_traffic_lights
std::unordered_map< ActorId, WalkerInfo >	_walkers

Detailed Description

Definition at line 45 of file WalkerManager.h.

Constructor & Destructor Documentation

WalkerManager()

carla::nav::WalkerManager::WalkerManager

(

)

Definition at line 20 of file WalkerManager.cpp.

~WalkerManager()

carla::nav::WalkerManager::~WalkerManager

(

)

Definition at line 23 of file WalkerManager.cpp.

Member Function Documentation

AddWalker()

bool carla::nav::WalkerManager::AddWalker

(

ActorId

id

)

create a new walker route

Definition at line 37 of file WalkerManager.cpp.

References _walkers, GetAllTrafficLightWaypoints(), carla::nav::WalkerInfo::state, and carla::nav::WALKER_IDLE.

Referenced by carla::nav::Navigation::AddWalker().

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ExecuteEvent()

EventResult carla::nav::WalkerManager::ExecuteEvent ( ActorId  id, WalkerInfo &  info, double  delta  )

private

Definition at line 267 of file WalkerManager.cpp.

References carla::nav::WalkerInfo::currentIndex, carla::nav::WalkerRoutePoint::event, and carla::nav::WalkerInfo::route.

Referenced by Update().

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GetAllTrafficLightWaypoints()

void carla::nav::WalkerManager::GetAllTrafficLightWaypoints ( )

private

Definition at line 277 of file WalkerManager.cpp.

References _simulator, _traffic_lights, carla::client::World::GetActor(), and carla::client::TrafficLight::GetStopWaypoints().

Referenced by AddWalker().

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GetNavigation()

Navigation* carla::nav::WalkerManager::GetNavigation ( )

inline

return the navigation object

Definition at line 81 of file WalkerManager.h.

Referenced by carla::nav::WalkerEventVisitor::operator()().

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GetTrafficLightAffecting()

SharedPtr< carla::client::TrafficLight > carla::nav::WalkerManager::GetTrafficLightAffecting	(	carla::geom::Location	UnrealPos,
		float	max_distance = -1.0f
	)

return the trafficlight affecting that position

Definition at line 306 of file WalkerManager.cpp.

References _traffic_lights, and carla::geom::Location::DistanceSquared().

Referenced by carla::nav::WalkerEventVisitor::operator()().

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GetWalkerCrosswalkEnd()

bool carla::nav::WalkerManager::GetWalkerCrosswalkEnd	(	ActorId	id,
		carla::geom::Location &	location
	)

get the point in the route that end current crosswalk

Definition at line 241 of file WalkerManager.cpp.

References _nav, _walkers, carla::nav::CARLA_AREA_CROSSWALK, carla::nav::WalkerInfo::currentIndex, and carla::nav::WalkerInfo::route.

Referenced by carla::nav::WalkerEventVisitor::operator()().

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GetWalkerNextPoint()

bool carla::nav::WalkerManager::GetWalkerNextPoint	(	ActorId	id,
		carla::geom::Location &	location
	)

get the next point in the route

Definition at line 219 of file WalkerManager.cpp.

References _nav, _walkers, carla::nav::WalkerInfo::currentIndex, and carla::nav::WalkerInfo::route.

RemoveWalker()

bool carla::nav::WalkerManager::RemoveWalker

(

ActorId

id

)

remove a walker route

Definition at line 50 of file WalkerManager.cpp.

References _walkers.

Referenced by carla::nav::Navigation::RemoveAgent().

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SetNav()

void carla::nav::WalkerManager::SetNav

(

Navigation *

nav

)

assign the navigation module

Definition at line 27 of file WalkerManager.cpp.

References _nav.

Referenced by carla::nav::Navigation::Navigation().

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SetSimulator()

void carla::nav::WalkerManager::SetSimulator

(

std::weak_ptr< carla::client::detail::Simulator >

simulator

)

reference to the simulator to access API functions

Definition at line 32 of file WalkerManager.cpp.

References _simulator.

Referenced by carla::nav::Navigation::SetSimulator().

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SetWalkerNextPoint()

bool carla::nav::WalkerManager::SetWalkerNextPoint

(

ActorId

id

)

set the next point in the route

Definition at line 184 of file WalkerManager.cpp.

References _nav, _walkers, carla::nav::WalkerInfo::currentIndex, carla::nav::Navigation::PauseAgent(), carla::nav::WalkerInfo::route, carla::nav::Navigation::SetWalkerDirectTarget(), SetWalkerRoute(), carla::nav::WalkerInfo::state, carla::nav::WALKER_STOP, and carla::nav::WALKER_WALKING.

Referenced by SetWalkerRoute(), and Update().

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SetWalkerRoute() [1/2]

bool carla::nav::WalkerManager::SetWalkerRoute

(

ActorId

id

)

set a new route from its current position

Definition at line 114 of file WalkerManager.cpp.

References _nav, and carla::nav::Navigation::GetRandomLocation().

Referenced by SetWalkerNextPoint(), carla::nav::Navigation::SetWalkerTarget(), Update(), and carla::nav::Navigation::UpdateCrowd().

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SetWalkerRoute() [2/2]

bool carla::nav::WalkerManager::SetWalkerRoute	(	ActorId	id,
		carla::geom::Location	to
	)

Definition at line 128 of file WalkerManager.cpp.

References _nav, _walkers, carla::nav::CARLA_AREA_CROSSWALK, carla::nav::CARLA_AREA_ROAD, carla::nav::CARLA_AREA_SIDEWALK, carla::nav::WalkerInfo::currentIndex, carla::nav::WalkerInfo::from, carla::nav::Navigation::GetAgentRoute(), carla::nav::Navigation::GetWalkerPosition(), carla::nav::WalkerInfo::route, SetWalkerNextPoint(), carla::nav::WalkerInfo::state, carla::nav::WalkerInfo::to, and carla::nav::WALKER_IDLE.

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Update()

bool carla::nav::WalkerManager::Update

(

double

delta

)

update all routes

Definition at line 61 of file WalkerManager.cpp.

References _nav, _walkers, carla::nav::Continue, carla::nav::WalkerInfo::currentIndex, carla::nav::End, ExecuteEvent(), carla::nav::Navigation::GetWalkerPosition(), carla::nav::WalkerInfo::route, SetWalkerNextPoint(), SetWalkerRoute(), carla::geom::Vector3D::SquaredLength(), carla::nav::WalkerInfo::state, carla::nav::TimeOut, carla::nav::WALKER_IDLE, carla::nav::WALKER_IN_EVENT, carla::nav::WALKER_STOP, carla::nav::WALKER_WALKING, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

Referenced by carla::nav::Navigation::UpdateCrowd().

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Member Data Documentation

_nav

Navigation* carla::nav::WalkerManager::_nav { nullptr }

private

Definition at line 94 of file WalkerManager.h.

Referenced by GetWalkerCrosswalkEnd(), GetWalkerNextPoint(), SetNav(), SetWalkerNextPoint(), SetWalkerRoute(), and Update().

_simulator

std::weak_ptr<carla::client::detail::Simulator> carla::nav::WalkerManager::_simulator

private

Definition at line 95 of file WalkerManager.h.

Referenced by GetAllTrafficLightWaypoints(), and SetSimulator().

_traffic_lights

std::vector<std::pair<SharedPtr<carla::client::TrafficLight>, carla::geom::Location> > carla::nav::WalkerManager::_traffic_lights

private

Definition at line 93 of file WalkerManager.h.

Referenced by GetAllTrafficLightWaypoints(), and GetTrafficLightAffecting().

_walkers

std::unordered_map<ActorId, WalkerInfo> carla::nav::WalkerManager::_walkers

private

Definition at line 92 of file WalkerManager.h.

Referenced by AddWalker(), GetWalkerCrosswalkEnd(), GetWalkerNextPoint(), RemoveWalker(), SetWalkerNextPoint(), SetWalkerRoute(), and Update().

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

• WalkerManager.h
• WalkerManager.cpp