Detailed Description

template<typename T>
class delphyne::AgentSimulationBase< T >

A runnable agent-based simulation, using Drake's system framework as its backbone.

Template Parameters

T	must be a valid Eigen ScalarType.

Instantiated templates for the following ScalarTypes are provided:

double

These are already available to link against in the containing library.

#include <include/delphyne/mi6/agent_simulation.h>

Public Member Functions
	AgentSimulationBase (std::unique_ptr< drake::systems::Simulator< T >> simulator, std::unique_ptr< drake::systems::Diagram< T >> diagram, std::map< std::string, std::unique_ptr< AgentBase< T >>> agents, std::unique_ptr< const maliput::api::RoadGeometry > road_geometry, drake::geometry::SceneGraph< T > scene_graph, SceneSystem scene_system)
	Constructs a simulation. More...

	AgentSimulationBase (std::unique_ptr< drake::systems::Simulator< T >> simulator, std::unique_ptr< drake::systems::Diagram< T >> diagram, std::map< std::string, std::unique_ptr< AgentBase< T >>> agents, std::unique_ptr< const maliput::api::RoadNetwork > road_network, drake::geometry::SceneGraph< T > scene_graph, SceneSystem scene_system)
	Constructs a simulation. More...

template<class AgentType >
const AgentType &	GetAgentByName (const std::string &name)
	Returns a reference to the `name`d agent of the given type. More...

template<template< typename U > class AgentBaseType>
const AgentBaseType< T > &	GetAgentByName (const std::string &name)
	Returns a mutable reference to the `name`d agent of the given type. More...

const AgentBase< T > &	GetAgentByName (const std::string &name) const
	Returns a reference to the `name`d agent. More...

template<class AgentType >
AgentType *	GetMutableAgentByName (const std::string &name)
	Returns a mutable reference to the `name`d agent of the given type. More...

template<template< typename U > class AgentBaseType>
AgentBaseType< T > *	GetMutableAgentByName (const std::string &name)
	Returns a mutable reference to the `name`d agent of the given type. More...

AgentBase< T > *	GetMutableAgentByName (const std::string &name)
	Returns a mutable reference to the `name`d agent. More...

std::unique_ptr< ignition::msgs::Scene >	GetVisualScene ()
	Returns the simulation scene, full of visuals. More...

drake::systems::rendering::PoseBundle< T >	GetCurrentPoses () const
	Returns the current poses of all agents in the simulation. More...

std::vector< AgentBaseCollision< T > >	GetCollisions () const
	Returns all agent pairs that are currently in collision. More...

void	SetRealTimeRate (double realtime_rate)
	Sets the real-time rate for this simulation. More...

double	GetRealTimeRate () const
	Gets the real-time rate for this simulation. More...

void	StepBy (const T &time_step)
	Advances simulated time by the given `time_step` in seconds. More...

const T &	GetCurrentTime () const
	Returns the current simulation time in seconds. More...

const drake::systems::Diagram< T > &	GetDiagram () const
	Gets a reference to the simulation diagram representation. More...

const drake::systems::Context< T > &	GetContext () const
	Gets a reference to the simulation context. More...

drake::systems::Context< T > *	GetMutableContext ()
	Gets a mutable reference to the simulation context. More...

Constructor & Destructor Documentation

◆ AgentSimulationBase() [1/2]

AgentSimulationBase	(	std::unique_ptr< drake::systems::Simulator< T >>	simulator,
		std::unique_ptr< drake::systems::Diagram< T >>	diagram,
		std::map< std::string, std::unique_ptr< AgentBase< T >>>	agents,
		std::unique_ptr< const maliput::api::RoadGeometry >	road_geometry,
		drake::geometry::SceneGraph< T > *	scene_graph,
		SceneSystem *	scene_system
	)

explicit

Constructs a simulation.

Parameters

simulator	the Simulator instance to advance this simulation.
diagram	the Diagram representation of this simulation.
agents	all the Agents associated with this simulation.
road_geometry	the RoadGeometry associated with this simulation.
scene_graph	a reference to the SceneGraph in this simulation, for all sorts of geometrical queries.
scene_system	a reference to the scene composing system in this simulation

◆ AgentSimulationBase() [2/2]

AgentSimulationBase	(	std::unique_ptr< drake::systems::Simulator< T >>	simulator,
		std::unique_ptr< drake::systems::Diagram< T >>	diagram,
		std::map< std::string, std::unique_ptr< AgentBase< T >>>	agents,
		std::unique_ptr< const maliput::api::RoadNetwork >	road_network,
		drake::geometry::SceneGraph< T > *	scene_graph,
		SceneSystem *	scene_system
	)

explicit

Constructs a simulation.

Parameters

simulator	the Simulator instance to advance this simulation.
diagram	the Diagram representation of this simulation.
agents	all the Agents associated with this simulation.
road_network	the RoadNetwork associated with this simulation.
scene_graph	a reference to the SceneGraph in this simulation, for all sorts of geometrical queries.
scene_system	a reference to the scene composing system in this simulation

Member Function Documentation

◆ GetAgentByName() [1/3]

const AgentType& GetAgentByName ( const std::string & name )

Returns a reference to the named agent of the given type.

Parameters

[in] name The name of the agent.

Exceptions

std::runtime_error	if no agent with the given `name` is known by the simulator.
std::bad_cast	if the agent was found but it is not of the expected type.

Template Parameters

AgentType An AgentBase<T> subclass.

◆ GetAgentByName() [2/3]

const AgentBaseType<T>& GetAgentByName ( const std::string & name )

Returns a mutable reference to the named agent of the given type.

Parameters

[in] name The name of the agent.

Exceptions

std::runtime_error	if no agent with the given `name` is known by the simulator.
std::bad_cast	if the agent was found but it is not of the expected type.

Template Parameters

AgentBaseType An AgentBase subclass, to be specialized for T.

◆ GetAgentByName() [3/3]

const delphyne::AgentBase< T > & GetAgentByName ( const std::string & name ) const

Returns a reference to the named agent.

Parameters

[in] name The name of the agent.

Exceptions

std::runtime_error if no agent with the given name is known by the simulator.

◆ GetCollisions()

std::vector< AgentBaseCollision< T > > GetCollisions

Returns all agent pairs that are currently in collision.

Remarks: The order in which collision pairs are returned may vary with the collision detection backend used and thus no order is enforced. DO NOT expect nor rely on any given order.

◆ GetContext()

const drake::systems::Context<T>& GetContext ( ) const

Gets a reference to the simulation context.

◆ GetCurrentPoses()

drake::systems::rendering::PoseBundle< T > GetCurrentPoses

Returns the current poses of all agents in the simulation.

◆ GetCurrentTime()

const T& GetCurrentTime ( ) const

Returns the current simulation time in seconds.

See also: Simulator::Context::get_time.

◆ GetDiagram()

const drake::systems::Diagram<T>& GetDiagram ( ) const

Gets a reference to the simulation diagram representation.

◆ GetMutableAgentByName() [1/3]

AgentType* GetMutableAgentByName ( const std::string & name )

Returns a mutable reference to the named agent of the given type.

Parameters

[in] name The name of the agent.

Returns: a pointer to the agent or nullptr if it is not of the expected type.

Exceptions

std::runtime_error if no agent with the given name is known by the simulator.

Template Parameters

AgentType An AgentBase<T> subclass.

◆ GetMutableAgentByName() [2/3]

AgentBaseType<T>* GetMutableAgentByName ( const std::string & name )

Returns a mutable reference to the named agent of the given type.

Parameters

[in] name The name of the agent.

Returns: a pointer to the agent or nullptr if it is not of the expected type.

Exceptions

std::runtime_error if no agent with the given name is known by the simulator.

Template Parameters

AgentBaseType An AgentBase subclass, to be specialized for T.

◆ GetMutableAgentByName() [3/3]

delphyne::AgentBase< T > * GetMutableAgentByName ( const std::string & name )

Returns a mutable reference to the named agent.

Parameters

[in] name The name of the agent.

Exceptions

std::runtime_error if no agent with the given name is known by the simulator.

◆ GetMutableContext()

drake::systems::Context<T>* GetMutableContext ( )

Gets a mutable reference to the simulation context.

◆ GetRealTimeRate()

double GetRealTimeRate ( ) const

Gets the real-time rate for this simulation.

See also: systems::Simulator::get_target_realtime_rate

◆ GetVisualScene()

std::unique_ptr< ignition::msgs::Scene > GetVisualScene

Returns the simulation scene, full of visuals.

◆ SetRealTimeRate()

void SetRealTimeRate ( double realtime_rate )

Sets the real-time rate for this simulation.

See also: systems::Simulator::set_target_realtime_rate

◆ StepBy()

void StepBy ( const T & time_step )

Advances simulated time by the given time_step in seconds.

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

Detailed Description

template<typename T> class delphyne::AgentSimulationBase< T >

Public Member Functions

Constructor & Destructor Documentation

◆ AgentSimulationBase() [1/2]

◆ AgentSimulationBase() [2/2]

Member Function Documentation

◆ GetAgentByName() [1/3]

◆ GetAgentByName() [2/3]

◆ GetAgentByName() [3/3]

◆ GetCollisions()

◆ GetContext()

◆ GetCurrentPoses()

◆ GetCurrentTime()

◆ GetDiagram()

◆ GetMutableAgentByName() [1/3]

◆ GetMutableAgentByName() [2/3]

◆ GetMutableAgentByName() [3/3]

◆ GetMutableContext()

◆ GetRealTimeRate()

◆ GetVisualScene()

◆ SetRealTimeRate()

◆ StepBy()

template<typename T>
class delphyne::AgentSimulationBase< T >