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Merge remote-tracking branch 'origin/master' into fix/sign-of-relativ…
…e-distance Signed-off-by: yamacir-kit <[email protected]>
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107 changes: 107 additions & 0 deletions
107
simulation/traffic_simulator/include/traffic_simulator/entity/deleted_entity.hpp
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| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef TRAFFIC_SIMULATOR__ENTITY__DELETED_ENTITY_HPP_ | ||
| #define TRAFFIC_SIMULATOR__ENTITY__DELETED_ENTITY_HPP_ | ||
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| #include <optional> | ||
| #include <traffic_simulator/entity/entity_base.hpp> | ||
| #include <traffic_simulator_msgs/msg/misc_object_parameters.hpp> | ||
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| namespace traffic_simulator | ||
| { | ||
| namespace entity | ||
| { | ||
| class DeletedEntity : public EntityBase | ||
| { | ||
| public: | ||
| // Dummy ID for internal use | ||
| static constexpr uint8_t ENTITY_TYPE_ID = 0xFF; | ||
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| explicit DeletedEntity( | ||
| const std::string & name, const CanonicalizedEntityStatus &, | ||
| const std::shared_ptr<hdmap_utils::HdMapUtils> &); | ||
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| void onUpdate(double, double) override {} | ||
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| auto getCurrentAction() const -> std::string override; | ||
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| auto getDefaultDynamicConstraints() const | ||
| -> const traffic_simulator_msgs::msg::DynamicConstraints & override; | ||
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| auto getEntityType() const -> const traffic_simulator_msgs::msg::EntityType & override | ||
| { | ||
| static traffic_simulator_msgs::msg::EntityType type; | ||
| type.type = ENTITY_TYPE_ID; // Dummy ID for internal use | ||
| return type; | ||
| } | ||
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| auto getEntityTypename() const -> const std::string & override | ||
| { | ||
| static const std::string result = "DeletedEntity"; | ||
| return result; | ||
| } | ||
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| ~DeletedEntity() override = default; | ||
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| auto getGoalPoses() -> std::vector<CanonicalizedLaneletPose> override { return {}; } | ||
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| std::optional<traffic_simulator_msgs::msg::Obstacle> getObstacle() override | ||
| { | ||
| return std::nullopt; | ||
| } | ||
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| auto getRouteLanelets(double) -> lanelet::Ids override { return {}; } | ||
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| auto fillLaneletPose(CanonicalizedEntityStatus &) -> void override; | ||
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| auto getWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray override | ||
| { | ||
| return traffic_simulator_msgs::msg::WaypointsArray(); | ||
| } | ||
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| void requestSpeedChange(double, bool) override {} | ||
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| void requestSpeedChange(const speed_change::RelativeTargetSpeed &, bool) override {} | ||
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| void requestAssignRoute(const std::vector<CanonicalizedLaneletPose> &) override {} | ||
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| void requestAssignRoute(const std::vector<geometry_msgs::msg::Pose> &) override {} | ||
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| void requestAcquirePosition(const CanonicalizedLaneletPose &) override {} | ||
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| void requestAcquirePosition(const geometry_msgs::msg::Pose &) override {} | ||
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| void requestSpeedChange( | ||
| const double, const speed_change::Transition, const speed_change::Constraint, | ||
| const bool) override | ||
| { | ||
| } | ||
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| auto getBehaviorParameter() const -> traffic_simulator_msgs::msg::BehaviorParameter override; | ||
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| void setBehaviorParameter(const traffic_simulator_msgs::msg::BehaviorParameter &) override {} | ||
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| void setAccelerationLimit(double) override {} | ||
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| void setAccelerationRateLimit(double) override {} | ||
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| void setDecelerationLimit(double) override {} | ||
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| void setDecelerationRateLimit(double) override {} | ||
| }; | ||
| } // namespace entity | ||
| } // namespace traffic_simulator | ||
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| #endif // TRAFFIC_SIMULATOR__ENTITY__DELETED_ENTITY_HPP_ |
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69 changes: 69 additions & 0 deletions
69
simulation/traffic_simulator/src/entity/deleted_entity.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,69 @@ | ||
| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <limits> | ||
| #include <traffic_simulator/entity/deleted_entity.hpp> | ||
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| namespace traffic_simulator | ||
| { | ||
| namespace entity | ||
| { | ||
| DeletedEntity::DeletedEntity( | ||
| const std::string & name, const CanonicalizedEntityStatus & entity_status, | ||
| const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) | ||
| : EntityBase(name, entity_status, hdmap_utils_ptr) | ||
| { | ||
| auto status = static_cast<EntityStatus>(status_); | ||
| status.action_status.twist = geometry_msgs::msg::Twist(); | ||
| status.action_status.accel = geometry_msgs::msg::Accel(); | ||
| status.action_status.linear_jerk = 0; | ||
| status.action_status.current_action = "static"; | ||
| status.bounding_box.dimensions.x = 0; | ||
| status.bounding_box.dimensions.y = 0; | ||
| status.bounding_box.dimensions.z = 0; | ||
| status.pose.position.x = std::numeric_limits<double>::infinity(); | ||
| status.pose.position.y = std::numeric_limits<double>::infinity(); | ||
| status.pose.position.z = std::numeric_limits<double>::infinity(); | ||
| status.lanelet_pose_valid = false; | ||
| status_ = CanonicalizedEntityStatus(status, hdmap_utils_ptr_); | ||
| status_before_update_ = CanonicalizedEntityStatus(status, hdmap_utils_ptr_); | ||
| } | ||
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| auto DeletedEntity::getCurrentAction() const -> std::string { return "static"; } | ||
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| auto DeletedEntity::getBehaviorParameter() const -> traffic_simulator_msgs::msg::BehaviorParameter | ||
| { | ||
| return traffic_simulator_msgs::msg::BehaviorParameter(); | ||
| } | ||
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| auto DeletedEntity::getDefaultDynamicConstraints() const | ||
| -> const traffic_simulator_msgs::msg::DynamicConstraints & | ||
| { | ||
| static const auto default_dynamic_constraints = []() { | ||
| auto dynamic_constraints = traffic_simulator_msgs::msg::DynamicConstraints(); | ||
| dynamic_constraints.max_speed = 0.0; | ||
| dynamic_constraints.max_acceleration = 0.0; | ||
| dynamic_constraints.max_acceleration_rate = 0.0; | ||
| dynamic_constraints.max_deceleration = 0.0; | ||
| dynamic_constraints.max_deceleration_rate = 0.0; | ||
| return dynamic_constraints; | ||
| }(); | ||
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| return default_dynamic_constraints; | ||
| } | ||
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| auto DeletedEntity::fillLaneletPose(CanonicalizedEntityStatus &) -> void {} | ||
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| } // namespace entity | ||
| } // namespace traffic_simulator |
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