107 lines
2.8 KiB
C
107 lines
2.8 KiB
C
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#pragma once
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#include <unordered_set>
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#include "carla/trafficmanager/DataStructures.h"
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namespace carla {
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namespace traffic_manager {
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enum ActorType {
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Vehicle,
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Pedestrian,
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Any
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};
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struct KinematicState {
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cg::Location location;
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cg::Rotation rotation;
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cg::Vector3D velocity;
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float speed_limit;
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bool physics_enabled;
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bool is_dormant;
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cg::Location hybrid_end_location;
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};
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using KinematicStateMap = std::unordered_map<ActorId, KinematicState>;
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struct TrafficLightState {
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TLS tl_state;
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bool at_traffic_light;
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};
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using TrafficLightStateMap = std::unordered_map<ActorId, TrafficLightState>;
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struct StaticAttributes {
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ActorType actor_type;
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float half_length;
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float half_width;
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float half_height;
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};
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using StaticAttributeMap = std::unordered_map<ActorId, StaticAttributes>;
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/// This class holds the state of all the vehicles in the simlation.
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class SimulationState {
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private:
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// Structure to hold ids of all actors in the simulation.
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std::unordered_set<ActorId> actor_set;
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// Structure containing dynamic motion related state of actors.
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KinematicStateMap kinematic_state_map;
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// Structure containing static attributes of actors.
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StaticAttributeMap static_attribute_map;
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// Structure containing dynamic traffic light related state of actors.
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TrafficLightStateMap tl_state_map;
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public :
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SimulationState();
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// Method to add an actor to the simulation state.
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void AddActor(ActorId actor_id,
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KinematicState kinematic_state,
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StaticAttributes attributes,
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TrafficLightState tl_state);
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// Method to verify if an actor is present currently present in the simulation state.
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bool ContainsActor(ActorId actor_id) const;
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// Method to remove an actor from simulation state.
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void RemoveActor(ActorId actor_id);
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// Method to flush all states and actors.
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void Reset();
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void UpdateKinematicState(ActorId actor_id, KinematicState state);
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void UpdateKinematicHybridEndLocation(ActorId actor_id, cg::Location location);
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void UpdateTrafficLightState(ActorId actor_id, TrafficLightState state);
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cg::Location GetLocation(const ActorId actor_id) const;
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cg::Location GetHybridEndLocation(const ActorId actor_id) const;
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cg::Rotation GetRotation(const ActorId actor_id) const;
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cg::Vector3D GetHeading(const ActorId actor_id) const;
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cg::Vector3D GetVelocity(const ActorId actor_id) const;
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float GetSpeedLimit(const ActorId actor_id) const;
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bool IsPhysicsEnabled(const ActorId actor_id) const;
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bool IsDormant(const ActorId actor_id) const;
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cg::Location GetHeroLocation(const ActorId actor_id) const;
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TrafficLightState GetTLS(const ActorId actor_id) const;
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ActorType GetType(const ActorId actor_id) const;
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cg::Vector3D GetDimensions(const ActorId actor_id) const;
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};
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} // namespace traffic_manager
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} // namespace carla
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