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cloe::component::LaneBoundaryClothoidFit Class Reference
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Public Member Functions

 LaneBoundaryClothoidFit (const std::string &name, const ClothoidFitConf &conf, std::shared_ptr< LaneBoundarySensor > sensor)
 
void enroll (Registrar &r) override
 
const LaneBoundaries & sensed_lane_boundaries () const override
 
const Frustum & frustum () const override
 
const Eigen::Isometry3d & mount_pose () const override
 
Duration process (const Sync &sync) override
 
void reset () override
 
void abort () override
 
- Public Member Functions inherited from cloe::LaneBoundarySensor
fable::Json active_state () const 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 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 Member Functions

void clear_cache ()
 
- Protected Member Functions inherited from cloe::Entity
virtual Logger logger () const
 

Additional Inherited Members

- Protected Attributes inherited from cloe::Model
bool connected_ {false}
 
bool operational_ {false}
 
- Protected Attributes inherited from cloe::Entity
std::string name_
 
std::string desc_
 

Member Function Documentation

◆ abort()

void cloe::component::LaneBoundaryClothoidFit::abort ( )
inlineoverridevirtual

Signal an abort to model processing.

This method is called asynchronously. It is highly recommended to make use of a std::atomic_bool for purposes of making the abortion request known to other parts of the model. This method is called when the user requests the simulation to be aborted, e.g., by sending the SIGINT signal.

An abort will be followed by a stop if the simulation was started.

The default implementation will throw an error. This will be caught and possibly ignored. Otherwise, the simulation will be killed.

See also
cloe/core/abort.hpp

Reimplemented from cloe::Model.

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◆ enroll()

void cloe::component::LaneBoundaryClothoidFit::enroll ( Registrar &  )
inlineoverridevirtual

Register any events, actions, or handlers with the registrar.

  • This may exhibit different behavior when called in a disconnected state, in order to provide the possibility for verification of triggers in offline mode.
  • It may throw an exception.

Reimplemented from cloe::Model.

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◆ frustum()

const Frustum& cloe::component::LaneBoundaryClothoidFit::frustum ( ) const
inlineoverridevirtual

Return the frustum of the lane sensor.

Implements cloe::LaneBoundarySensor.

◆ mount_pose()

const Eigen::Isometry3d& cloe::component::LaneBoundaryClothoidFit::mount_pose ( ) const
inlineoverridevirtual

Return the mounting position of the lane sensor.

Implements cloe::LaneBoundarySensor.

◆ process()

Duration cloe::component::LaneBoundaryClothoidFit::process ( const Sync &  sync)
inlineoverridevirtual

Process the underlying sensor and clear the cache.

We could process and create the filtered list of lane boundaries now, but we can also delay it (lazy computation).

Implements cloe::Model.

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◆ reset()

void cloe::component::LaneBoundaryClothoidFit::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.

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◆ sensed_lane_boundaries()

const LaneBoundaries& cloe::component::LaneBoundaryClothoidFit::sensed_lane_boundaries ( ) const
inlineoverridevirtual

Return the detected lane boundaries.

Implements cloe::LaneBoundarySensor.

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