sumointegrator::Sumo::Ego Class Reference

Exposes facilities related to the ego entity. More...

#include <include/sumo-integrator/core/Ego.h>

Public Member Functions
void	subscribe (const std::vector< int > &, const double, const double, const double)
	Subscribe to the data feed of neighbouring vehicles. More...
types::Datamaps	poll ()
	Poll the neighbouring vehicles data feed. More...
void	move (const types::Position &)
	Move an ego entity. More...
void	move (const std::string &, const types::Position &)
	Move an ego entity. More...
std::string	get_id ()
	Get the id of the ego entity. More...
void	set_id (const std::string &)
	Set the id of the ego entity. More...

Detailed Description

Exposes facilities related to the ego entity.

Author

Mattia Affabris - matti.nosp@m.a.af.nosp@m.fabri.nosp@m.s@an.nosp@m.temot.nosp@m.ion..nosp@m.com

Date

2018-11-26

2018-11-29

Version

0.4.0-alpha4

3

Copyright

Copyright (C) (2018) AnteMotion

Handles the ego entity within SUMO's simulation. It is assumed only one "main" ego entity exists, although it is possible to alter the state of other entities as if they were ego entities themselves.

Note

May only be accessed as a pointer member class of sumointegrator::Sumo (sumointegrator::Sumo::ego).

Inherits sumointegrator::Sumo::Concern.

Member Function Documentation

subscribe()

void sumointegrator::Sumo::Ego::subscribe	(	const std::vector< int > &	request,
		const double	radius,
		const double	start,
		const double	end
	)

Subscribe to the data feed of neighbouring vehicles.

Data is received from only those vehicles within a circle cantered in the ego vehicle and with the given radius. Once subscribed to a data feed, on each SUMO simulation tick that data is made available through poll().

Units

start seconds (s)
end seconds (s)
'radius' meters (m)

Parameters

[in]	request	The requested data.
[in]	start	The time the subscription starts taking effect.
[in]	end	The time the subscription stops taking effect.
[in]	radius	The radius of the circle area.

Debug

DEBUG_INFO - Subscription target. DEBUG_DATA - Number of vehicles in the radius.

poll()

types::Datamaps sumointegrator::Sumo::Ego::poll

(

)

Poll the neighbouring vehicles data feed.

It is assumed a subscription was previously made with subscribe(). The data is collected in an std::map (types::Datamaps) and can be index-accessed for usage; the amount of datasets received depends on the number of vehicles within the radius specified with subscribe().

Returns

An std::map of entries, the keys being the vehicles and the corresponding content being an std::map of entries with all the requested data.

Note

No failure state is returned if no subscription was previously made.

Debug

DEBUG_DATA - Number of datapoints received from the subscription for each vehicle.

move() [1/2]

void sumointegrator::Sumo::Ego::move

(

const types::Position &

position

)

Move an ego entity.

The ego entity is placed at the given coordinates, with no interpolation or extrapolation made on its state vectors between subsequent move()s. SUMO is capable of interacting with this ego entity based on (subsequent) position(s) alone.

Note

The id of the SUMO entity acting as the ego entity must be set first with set_id().

Units

position meters (m), meters (m), meters (m)

Parameters

[in]

position

The target 3D position.

Exceptions

types::RuntimeException

If the id is not set.

See also

move(const std::string&, const Position&)

move() [2/2]

void sumointegrator::Sumo::Ego::move	(	const std::string &	id,
		const types::Position &	position
	)

Move an ego entity.

The SUMO entity identified by its id is placed in the given coordinates, with no interpolation or extrapolation made on its state vectors between subsequent move(const std::string&, const Position&). This method is useful to move entities other than the "main" ego.

Units

position meters (m), meters (m), meters (m)

Parameters

[in]	id	The id of the SUMO entity.
[in]	position	The target 3D position.

See also

move(const Position&)

get_id()

std::string sumointegrator::Sumo::Ego::get_id

(

)

Get the id of the ego entity.

Returns

The id of the ego entity.

set_id()

void sumointegrator::Sumo::Ego::set_id

(

const std::string &

id

)

Set the id of the ego entity.

Parameters

[in]

id

The id of the ego entity.

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

• include/sumo-integrator/core/Ego.h
• src/core/Ego.cpp