Behavior-driven navigation agent. More...

#include <BehaviorAgent.h>

Inheritance diagram for carla::agents::navigation::BehaviorAgent:

Public Types
enum class	Behavior { Cautious , Normal , Aggressive }

Public Member Functions
	BehaviorAgent (SharedPtr< client::Vehicle > vehicle, Behavior behavior=Behavior::Normal, const Options &opts=BasicAgent::DefaultOptions(), SharedPtr< client::Map > map=nullptr, SharedPtr< GlobalRoutePlanner > grp=nullptr)

rpc::VehicleControl	EmergencyStop () const
	Build an emergency-stop control: throttle=0, brake=_max_brake, hand_brake=false, steer left untouched (default 0).

rpc::VehicleControl	RunStep () override
	Polymorphic entry point: keeps dispatch through `BasicAgent*` correct.

rpc::VehicleControl	RunStep (bool debug)
	Execute one step of navigation.

bool	TrafficLightManager ()
	Returns true if the agent is affected by a traffic light.

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

Private Member Functions
rpc::VehicleControl	CarFollowingManager (SharedPtr< client::Actor > vehicle, float distance, bool debug=false)
	Car-following control law applied when there is a vehicle in front.

VehicleObstacle	CollisionAndCarAvoidManager (SharedPtr< client::Waypoint > waypoint)
	Detect collision/car-avoidance opportunities ahead.

VehicleObstacle	PedestrianAvoidManager (SharedPtr< client::Waypoint > waypoint)
	Detect pedestrians ahead.

void	Tailgating (SharedPtr< client::Waypoint > waypoint)
	Tailgating-avoidance lane change, called from CollisionAndCarAvoidManager.

void	UpdateInformation ()
	Refresh cached scene information consumed by RunStep.

Private Attributes
BehaviorParameters	_behavior

RoadOption	_direction = RoadOption::LaneFollow

RoadOption	_incoming_direction = RoadOption::LaneFollow

SharedPtr< client::Waypoint >	_incoming_waypoint

int	_look_ahead_steps = 0

float	_min_speed = 5.0f

float	_speed = 0.0f

float	_speed_limit = 0.0f

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

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

Behavior-driven navigation agent.

Mirrors agents.navigation.behavior_agent.BehaviorAgent in the Python API.

Definition at line 30 of file BehaviorAgent.h.

Member Enumeration Documentation

◆ Behavior

enum class carla::agents::navigation::BehaviorAgent::Behavior

strong

Enumerator
Cautious
Normal
Aggressive

Definition at line 32 of file BehaviorAgent.h.

Constructor & Destructor Documentation

◆ BehaviorAgent()

carla::agents::navigation::BehaviorAgent::BehaviorAgent	(	SharedPtr< client::Vehicle >	vehicle,
		Behavior	behavior = `Behavior::Normal`,
		const Options &	opts = `BasicAgent::DefaultOptions()`,
		SharedPtr< client::Map >	map = `nullptr`,
		SharedPtr< GlobalRoutePlanner >	grp = `nullptr`
	)

Definition at line 59 of file BehaviorAgent.cpp.

References carla::agents::navigation::BasicAgent::_sampling_resolution.

Member Function Documentation

◆ CarFollowingManager()

rpc::VehicleControl carla::agents::navigation::BehaviorAgent::CarFollowingManager	(	SharedPtr< client::Actor >	vehicle,
		float	distance,
		bool	debug = `false`
	)

private

Car-following control law applied when there is a vehicle in front.

Definition at line 274 of file BehaviorAgent.cpp.

References _behavior, carla::agents::navigation::BasicAgent::_local_planner, _min_speed, _speed, _speed_limit, distance, carla::agents::navigation::GetSpeed(), carla::agents::navigation::BehaviorParameters::max_speed, carla::agents::navigation::Positive(), carla::agents::navigation::BehaviorParameters::safety_time, carla::agents::navigation::BehaviorParameters::speed_decrease, and carla::agents::navigation::BehaviorParameters::speed_lim_dist.

Referenced by RunStep().

◆ CollisionAndCarAvoidManager()

BasicAgent::VehicleObstacle carla::agents::navigation::BehaviorAgent::CollisionAndCarAvoidManager ( SharedPtr< client::Waypoint > waypoint )

private

Detect collision/car-avoidance opportunities ahead.

Definition at line 189 of file BehaviorAgent.cpp.

Referenced by RunStep().

◆ EmergencyStop()

rpc::VehicleControl carla::agents::navigation::BehaviorAgent::EmergencyStop ( ) const

Build an emergency-stop control: throttle=0, brake=_max_brake, hand_brake=false, steer left untouched (default 0).

Definition at line 371 of file BehaviorAgent.cpp.

References carla::agents::navigation::BasicAgent::_max_brake, and carla::rpc::VehicleControl::throttle.

Referenced by RunStep().

◆ PedestrianAvoidManager()

BasicAgent::VehicleObstacle carla::agents::navigation::BehaviorAgent::PedestrianAvoidManager ( SharedPtr< client::Waypoint > waypoint )

private

Detect pedestrians ahead.

Definition at line 234 of file BehaviorAgent.cpp.

References _behavior, _direction, _speed_limit, carla::agents::navigation::BasicAgent::_world, carla::agents::navigation::ChangeLaneLeft, carla::agents::navigation::ChangeLaneRight, carla::agents::navigation::BehaviorParameters::min_proximity_threshold, and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

Referenced by RunStep().

◆ RunStep() [1/2]

rpc::VehicleControl carla::agents::navigation::BehaviorAgent::RunStep ( )

inlineoverridevirtual

Polymorphic entry point: keeps dispatch through BasicAgent* correct.

Reimplemented from carla::agents::navigation::BasicAgent.

Definition at line 48 of file BehaviorAgent.h.

References RunStep().

Referenced by RunStep().

◆ RunStep() [2/2]

rpc::VehicleControl carla::agents::navigation::BehaviorAgent::RunStep ( bool debug )

Execute one step of navigation.

The bool overload mirrors the Python run_step(debug=False) signature.

Definition at line 306 of file BehaviorAgent.cpp.

◆ Tailgating()

void carla::agents::navigation::BehaviorAgent::Tailgating ( SharedPtr< client::Waypoint > waypoint )

private

Tailgating-avoidance lane change, called from CollisionAndCarAvoidManager.

Definition at line 110 of file BehaviorAgent.cpp.

References _behavior, carla::agents::navigation::BasicAgent::_local_planner, _speed, _speed_limit, carla::agents::navigation::BasicAgent::_world, carla::road::Lane::Driving, carla::agents::navigation::GetSpeed(), carla::agents::navigation::BehaviorParameters::min_proximity_threshold, carla::agents::navigation::BasicAgent::SetDestination(), carla::agents::navigation::BehaviorParameters::tailgate_counter, and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

Referenced by CollisionAndCarAvoidManager().

◆ TrafficLightManager()

bool carla::agents::navigation::BehaviorAgent::TrafficLightManager ( )

Returns true if the agent is affected by a traffic light.

Definition at line 99 of file BehaviorAgent.cpp.

References carla::agents::navigation::BasicAgent::_world, and carla::agents::navigation::BasicAgent::AffectedByTrafficLight().

Referenced by RunStep().

◆ UpdateInformation()

void carla::agents::navigation::BehaviorAgent::UpdateInformation ( )

private

Refresh cached scene information consumed by RunStep.

Definition at line 74 of file BehaviorAgent.cpp.

References _direction, _incoming_direction, _incoming_waypoint, carla::agents::navigation::BasicAgent::_local_planner, _look_ahead_steps, _speed, _speed_limit, carla::agents::navigation::BasicAgent::_vehicle, carla::agents::navigation::GetSpeed(), carla::agents::navigation::LaneFollow, and carla::agents::navigation::Void.

Referenced by RunStep().

Member Data Documentation

◆ _behavior

BehaviorParameters carla::agents::navigation::BehaviorAgent::_behavior

private

Definition at line 72 of file BehaviorAgent.h.

Referenced by CarFollowingManager(), CollisionAndCarAvoidManager(), PedestrianAvoidManager(), RunStep(), and Tailgating().

◆ _direction

RoadOption carla::agents::navigation::BehaviorAgent::_direction = RoadOption::LaneFollow

private

Definition at line 77 of file BehaviorAgent.h.

Referenced by CollisionAndCarAvoidManager(), PedestrianAvoidManager(), and UpdateInformation().

◆ _incoming_direction

RoadOption carla::agents::navigation::BehaviorAgent::_incoming_direction = RoadOption::LaneFollow

private

Definition at line 78 of file BehaviorAgent.h.

Referenced by RunStep(), and UpdateInformation().

◆ _incoming_waypoint

SharedPtr<client::Waypoint> carla::agents::navigation::BehaviorAgent::_incoming_waypoint

private

Definition at line 79 of file BehaviorAgent.h.

Referenced by RunStep(), and UpdateInformation().

◆ _look_ahead_steps

int carla::agents::navigation::BehaviorAgent::_look_ahead_steps = 0

private

Definition at line 73 of file BehaviorAgent.h.

Referenced by UpdateInformation().

◆ _min_speed

float carla::agents::navigation::BehaviorAgent::_min_speed = 5.0f

private

Definition at line 76 of file BehaviorAgent.h.

Referenced by CarFollowingManager().

◆ _speed

float carla::agents::navigation::BehaviorAgent::_speed = 0.0f

private

Definition at line 74 of file BehaviorAgent.h.

Referenced by CarFollowingManager(), CollisionAndCarAvoidManager(), Tailgating(), and UpdateInformation().

◆ _speed_limit

float carla::agents::navigation::BehaviorAgent::_speed_limit = 0.0f

private

Definition at line 75 of file BehaviorAgent.h.

Referenced by CarFollowingManager(), CollisionAndCarAvoidManager(), PedestrianAvoidManager(), RunStep(), Tailgating(), and UpdateInformation().

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Behavior

Constructor & Destructor Documentation

◆ BehaviorAgent()

Member Function Documentation

◆ CarFollowingManager()

◆ CollisionAndCarAvoidManager()

◆ EmergencyStop()

◆ PedestrianAvoidManager()

◆ RunStep() [1/2]

◆ RunStep() [2/2]

◆ Tailgating()

◆ TrafficLightManager()

◆ UpdateInformation()

Member Data Documentation

◆ _behavior

◆ _direction

◆ _incoming_direction

◆ _incoming_waypoint

◆ _look_ahead_steps

◆ _min_speed

◆ _speed

◆ _speed_limit