#include <actuator_component.hpp>
Public Member Functions | |
| VtdExternalEgoModel (std::shared_ptr< TaskControl > tc, uint64_t id, const std::string &veh_name) | |
| void | step_begin (const cloe::Sync &sync) override |
| void | reset () override |
| cloe::Json | to_json () const override |
 Public Member Functions inherited from vtd::VtdVehicleControl | |
| virtual void | step_end (const cloe::Sync &) |
| virtual bool | update_vehicle_label () |
| virtual cloe::utility::ActuationLevel | get_actuation_level () |
| Public Member Functions inherited from cloe::VehicleStateModel | |
| 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 |
| 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) |
Additional Inherited Members | |
| Protected Member Functions inherited from cloe::Entity | |
| virtual Logger | logger () const |
| Protected Attributes inherited from cloe::VehicleStateModel | |
| 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_ |
VtdExternalEgoModel provides the ego state from an external model to VTD.
Every VTD cycle, the following needs to be done:
step_begin retrieves the updated ego vehicle state from the external model and registers the new state with the TaskControl client.TaskControl::add_trigger_and_send must be called to send the information to VTD.
|
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::VehicleStateModel.
|
inlineoverridevirtual |
Add the DynObjectState package to the TaskControl.
This should only be called once per simulation step. This method will not pay attention for you. Later, when the TaskControl sends its packages, this one will be part of it.
Implements vtd::VtdVehicleControl.
1.9.1