Class CrowdSimInterface

Defined in File crowd_simulator_common.hpp

Nested Relationships

Nested Types

Struct CrowdSimInterface::Object

Class Documentation

class CrowdSimInterface

Public Types

enum class AnimState

Values:

enumerator WALK

enumerator IDLE

using ObjectPtr = std::shared_ptr<Object>

Public Functions

inline CrowdSimInterface()

rclcpp::Logger logger() const

void init_ros_node(const rclcpp::Node::SharedPtr node)

bool init_crowd_sim()

double get_sim_time_step() const

size_t get_num_objects() const

ObjectPtr get_object_by_id(size_t id) const

void one_step_sim(double time_step) const

double get_switch_anim_distance_th() const

std::vector<std::string> get_switch_anim_name() const

bool enabled() const

template<typename SdfPtrT> bool read_sdf(SdfPtrT &sdf)

template<typename IgnMathPose3d> void update_external_agent(size_t id, const IgnMathPose3d &model_pose)

template<typename IgnMathPose3d> void update_external_agent(const AgentPtr agent_ptr, const IgnMathPose3d &model_pose)

template<typename IgnMathPose3d> IgnMathPose3d get_agent_pose(size_t id, double delta_sim_time)

template<typename IgnMathPose3d> IgnMathPose3d get_agent_pose(const AgentPtr agent_ptr, double delta_sim_time)

Public Members

std::shared_ptr<ModelTypeDatabase> _model_type_db_ptr

struct Object

Public Functions

AnimState get_next_state(bool condition)

Public Members

AgentPtr agent_ptr

std::string model_name

std::string type_name

bool is_external = false

AnimState current_state