minimator.cpp File Reference

#include <functional>
#include <memory>
#include <string>
#include <vector>
#include <cloe/component/ego_sensor.hpp>
#include <cloe/component/lane_sensor.hpp>
#include <cloe/component/latlong_actuator.hpp>
#include <cloe/component/object_sensor.hpp>
#include <cloe/component/object_sensor_functional.hpp>
#include <cloe/handler.hpp>
#include <cloe/models.hpp>
#include <cloe/plugin.hpp>
#include <cloe/registrar.hpp>
#include <cloe/simulator.hpp>
#include <cloe/sync.hpp>
#include <cloe/utility/geometry.hpp>
#include <cloe/vehicle.hpp>
#include <minimator.hpp>

Include dependency graph for minimator.cpp:

Classes
class	minimator::MinimatorLaneSensor
class	minimator::SimulatorSensorMockup
class	minimator::MinimatorObjectSensor
class	minimator::MinimatorEgoSensor
class	minimator::MinimatorVehicle
class	minimator::MinimatorSimulator

Typedefs
using	minimator::Vehicles = std::vector< std::shared_ptr< cloe::Vehicle > >

Detailed Description

This file defines the minimator example simulator plugin.

In principle, creating a simulator binding for Cloe is fairly simple. You must create a dynamic library that contains a plugin manifest that defines a factory that creates objects that fulfill the cloe::Simulator interface. (After introducing a class we will omit the cloe:: scope specification for brevity.)

The Simulator interface is little more than a cloe::Model that provides access to one or more cloe::Vehicle. As such it has a lot in common with all other models, such as cloe::Controller and cloe::Component.

We have then, the following situation:

1. Minimator is a Simulator, which is a Model.

   See also

   cloe/simulator.hpp

   cloe/model.hpp

2. Minimator provides MinimatorVehicle, which is a Vehicle.

   See also

   cloe/vehicle.hpp

3. A MinimatorFactory is exported with EXPORT_CLOE_PLUGIN.

   See also

   cloe/plugin.hpp

   A factory or simulator isn't much good to us if we can't configure it. We use the Fable library for this purpose. This is included in the Cloe runtime and is available in the cloe namespace as well as the original fable namespace.