cloe::VehicleStateModel Class Reference

Inheritance diagram for cloe::VehicleStateModel:

Collaboration diagram for cloe::VehicleStateModel:

Public Member Functions
virtual void	set_vehicle_state (const Object &obj)
const boost::optional< Object > &	vehicle_state ()
bool	is_vehicle_state ()
void	register_vehicle_state_callback (const std::function< void(void)> &c)
fable::Json	active_state () const override
Duration	process (const Sync &sync) override
void	reset () override
	Component (const std::string &name, const std::string &description="")
	Component (std::string &&name, std::string &&description="")
Public Member Functions inherited from cloe::Component
	Component (const std::string &name, const std::string &description="")
	Component (std::string &&name, std::string &&description="")
uint64_t	id () const
template<typename T >
T *	as ()
Duration	process (const Sync &sync) override
void	reset () override
void	abort () override
Public Member Functions inherited from cloe::Model
virtual	~Model () noexcept=default
virtual Duration	resolution () const
virtual bool	is_connected () const
virtual bool	is_operational () const
virtual void	connect ()
virtual void	disconnect ()
virtual void	enroll (Registrar &)
virtual void	start (const Sync &)
virtual void	pause (const Sync &)
virtual void	resume (const Sync &)
virtual void	stop (const Sync &)
	Entity (std::string name)
	Entity (std::string name, std::string desc)
Public Member Functions inherited from cloe::Entity
	Entity (std::string name)
	Entity (std::string name, std::string desc)
const std::string &	name () const
void	set_name (std::string name)
const std::string &	description () const
void	set_description (std::string desc)

Protected Attributes
boost::optional< Object >	vehicle_state_
std::function< void(void)>	vehicle_state_callback_
Protected Attributes inherited from cloe::Model
bool	connected_ {false}
bool	operational_ {false}
Protected Attributes inherited from cloe::Entity
std::string	name_
std::string	desc_

Additional Inherited Members
Protected Member Functions inherited from cloe::Entity
virtual Logger	logger () const

Member Function Documentation

active_state()

fable::Json cloe::VehicleStateModel::active_state ( ) const

inlineoverridevirtual

Write the JSON representation of the vehicle state into j.

Currently, the API is unstable, because we don't have access to any real data.

Implements cloe::Component.

is_vehicle_state()

bool cloe::VehicleStateModel::is_vehicle_state ( )

inline

Return true if set_vehicle_state was called for the current step. Note that is_vehicle_state() may invoke set_vehicle_state() by calling vehicle_state_callback_().

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process()

Duration cloe::VehicleStateModel::process ( const Sync &  )

inlineoverridevirtual

Perform model processing given the simulation context.

In particular, the model may read and write information from and to data it has, in particular any vehicles.

• Method is_operational() should return true.
• It may throw an exception. Those derived from ModelError are more likely to be correctly handled, however. The simulation may handle it by a) removing or replacing the model, b) stopping the simulation, or c) ignoring the exception. In the last case, this method will be called again in the next simulation step. In any case, assume that the simulation will print a message to the logs or the console.
• It should return the current simulation duration from the model's time domain, which is expected to be less or equal to sync.time().

Implements cloe::Model.

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register_vehicle_state_callback()

void cloe::VehicleStateModel::register_vehicle_state_callback ( const std::function< void(void)> &  c )

inline

Register callback function that will invoke set_vehicle_state().

reset()

void cloe::VehicleStateModel::reset ( )

inlineoverridevirtual

Reset the model state.

This is called when Cloe is asked to reset the whole simulation to time 0. This can be the case when the simulator or a controller asks us to recover from a temporary problem without repeating the whole simulation setup.

The default implementation will raise an error. So if your model is not able to re-initialize, the simulation will be aborted.

Reimplemented from cloe::Model.

Reimplemented in vtd::VtdExternalEgoModel.

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set_vehicle_state()

virtual void cloe::VehicleStateModel::set_vehicle_state ( const Object &  obj )

inlinevirtual

Set the ego vehicle state corresponding to the end of the current step.

vehicle_state()

const boost::optional<Object>& cloe::VehicleStateModel::vehicle_state ( )

inline

Get the ego vehicle state at the end of the current step. Note that vehicle_state() may invoke set_vehicle_state() by calling vehicle_state_callback_().

Member Data Documentation

vehicle_state_

boost::optional<Object> cloe::VehicleStateModel::vehicle_state_

protected

Vehicle state determined by a vehicle dynamics model.

Contains object pose, velocity, acceleration, angular_velocity in world coordinates.

vehicle_state_callback_

std::function<void(void)> cloe::VehicleStateModel::vehicle_state_callback_

protected

Callback function that is invoked when access to the ego vehicle target state is requested (by calling is_vehicle_state() or vehicle_state()).

The main use case for the callback is to update the ego vehicle state using an actuator and/or vehicle dynamics model external of the simulator. Then, the callback could implement the following:

• Update the external model with the latest simulator state
• Trigger the time stepping of the external model
• Invoke set_vehicle_state() to update LatLongActuator

Note that the callback function must ensure that repeated invocation within the same time step does not lead to unintended behavior.

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

• /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/develop/models/include/cloe/component/vehicle_state_model.hpp