78 lines
1.9 KiB
C
78 lines
1.9 KiB
C
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// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/client/Timestamp.h"
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#include "carla/client/ActorSnapshot.h"
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#include "carla/client/detail/EpisodeState.h"
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#include <boost/optional.hpp>
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namespace carla {
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namespace client {
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class WorldSnapshot {
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public:
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WorldSnapshot(std::shared_ptr<const detail::EpisodeState> state)
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: _state(std::move(state)) {}
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/// Get the id of the episode associated with this world.
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uint64_t GetId() const {
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return _state->GetEpisodeId();
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}
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size_t GetFrame() const {
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return GetTimestamp().frame;
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}
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/// Get timestamp of this snapshot.
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const Timestamp &GetTimestamp() const {
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return _state->GetTimestamp();
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}
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/// Check if an actor is present in this snapshot.
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bool Contains(ActorId actor_id) const {
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return _state->ContainsActorSnapshot(actor_id);
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}
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/// Find an ActorSnapshot by id.
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boost::optional<ActorSnapshot> Find(ActorId actor_id) const {
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return _state->GetActorSnapshotIfPresent(actor_id);
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}
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/// Return number of ActorSnapshots present in this WorldSnapshot.
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size_t size() const {
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return _state->size();
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}
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/// Return a begin iterator to the list of ActorSnapshots.
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auto begin() const {
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return _state->begin();
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}
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/// Return a past-the-end iterator to the list of ActorSnapshots.
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auto end() const {
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return _state->end();
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}
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bool operator==(const WorldSnapshot &rhs) const {
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return GetTimestamp() == rhs.GetTimestamp();
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}
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bool operator!=(const WorldSnapshot &rhs) const {
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return !(*this == rhs);
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}
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private:
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std::shared_ptr<const detail::EpisodeState> _state;
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};
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} // namespace client
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} // namespace carla
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