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Public Member Functions | Protected Attributes | List of all members
minimator::MinimatorEgoSensor Class Reference
Inheritance diagram for minimator::MinimatorEgoSensor:
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Collaboration diagram for minimator::MinimatorEgoSensor:
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Public Member Functions

 MinimatorEgoSensor (uint16_t id, cloe::Object ego_object)
 
const cloe::Object & sensed_state () const override
 
double wheel_steering_angle () const override
 
virtual double steering_wheel_speed () const override
 
void reset () override
 
- Public Member Functions inherited from cloe::EgoSensor
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)
 

Protected Attributes

uint16_t id_
 
cloe::Object ego_object_
 
double angle_ {0.0}
 
double steering_wheel_speed_ {0.0}
 
- 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
 

Detailed Description

MinimatorEgoSensor is a minimalistic EgoSensor.

Member Function Documentation

◆ reset()

void minimator::MinimatorEgoSensor::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.

◆ sensed_state()

const cloe::Object& minimator::MinimatorEgoSensor::sensed_state ( ) const
inlineoverridevirtual

Return the sensed ego state.

  • The object's properties, such as velocity and acceleration, are in absolute coordinates.
  • The returned pointer is invalid after clear_cache is called.
  • The EgoSensor that returns the pointer manages the memory.

Implements cloe::EgoSensor.

◆ steering_wheel_speed()

virtual double minimator::MinimatorEgoSensor::steering_wheel_speed ( ) const
inlineoverridevirtual

Return the speed of the steering wheel rotation in radians/s.

Positive values indicate clockwise rotation from the perspective of the driver.

Implements cloe::EgoSensor.

◆ wheel_steering_angle()

double minimator::MinimatorEgoSensor::wheel_steering_angle ( ) const
inlineoverridevirtual

Return the front left wheel steering angle in radians.

Implements cloe::EgoSensor.

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