$darkmode
Public Member Functions | List of all members
cloe_esmini::ESMiniEgoControl Class Reference

#include <esmini_ego_control.hpp>

Inheritance diagram for cloe_esmini::ESMiniEgoControl:
[legend]
Collaboration diagram for cloe_esmini::ESMiniEgoControl:
[legend]

Public Member Functions

 ESMiniEgoControl (uint64_t id)
 
bool has_level_change ()
 
void save_level_state ()
 
void step (const cloe::Sync &s)
 
cloe::Duration process (const cloe::Sync &sync) override
 
void reset () override
 
- Public Member Functions inherited from cloe::LatLongActuator
virtual void set_acceleration (double a)
 
virtual boost::optional< double > acceleration ()
 
virtual bool is_acceleration () const
 
virtual void set_steering_angle (double a)
 
virtual boost::optional< double > steering_angle ()
 
virtual bool is_steering_angle () const
 
utility::ActuationLevel actuation_level () const
 
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 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::LatLongActuator
utility::ActuationLevel level_
 
boost::optional< double > target_acceleration_
 
boost::optional< double > target_steering_angle_
 
- Protected Attributes inherited from cloe::Model
bool connected_ {false}
 
bool operational_ {false}
 
- Protected Attributes inherited from cloe::Entity
std::string name_
 
std::string desc_
 

Detailed Description

ESMiniEgoControl implements LatLongActuator for the ESMini binding. The ego vehicle position is updated in the ESMini scene using a simple vehicle model. The new ego state is either computed from the control request or a simple driver model.

Member Function Documentation

◆ has_level_change()

bool cloe_esmini::ESMiniEgoControl::has_level_change ( )
inline

Returns true when the controller actuation state changes from its previous configuration (lateral, longitudinal control, both or none).

Here is the caller graph for this function:

◆ process()

cloe::Duration cloe_esmini::ESMiniEgoControl::process ( const cloe::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().

Reimplemented from cloe::LatLongActuator.

◆ reset()

void cloe_esmini::ESMiniEgoControl::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::LatLongActuator.

◆ save_level_state()

void cloe_esmini::ESMiniEgoControl::save_level_state ( )
inline

Needs to be called after add_driver_control and before the next clear_cache invocation.

◆ step()

void cloe_esmini::ESMiniEgoControl::step ( const cloe::Sync &  s)
inline

Update the ego vehicle position in the scene.

Here is the call graph for this function:
The documentation for this class was generated from the following file: