Inheritance diagram for random_obstacle_spawner.RandomObstacleSpawner:

Public Member Functions
def	__init__ (self)

None	cleanup (self)

Public Attributes
	arrival_tolerance

	cleaned_up

	controlled_emergency_speed

	current_robot_position

	delete_client

	emergency_cycle

	emergency_cycle_active

	emergency_duration

	emergency_loop

	emergency_repeat_interval

	emergency_start_time

	fallback_robot_position

	gazebo_service_timeout

	gazebo_state_timeout

	gazebo_state_update_rate

	human_radius

	last_update

	map

	map_frame

	map_yaml

	marker_pub

	min_people_distance

	min_robot_distance

	min_wall_distance

	movement_started

	movement_timer

	moving_people_distance

	next_emergency_time

	next_gazebo_state_update

	next_spawn_index

	pending_spawns

	people

	people_pub

	robot_frame

	robot_tf_timeout

	scenario

	set_state_client

	simulation_start

	spawn_client

	spawn_response_timeout

	spawn_timeout_timer

	startup_started

	startup_timer

	steady_clock

	tf_buffer

	tf_listener

	update_rate

Private Member Functions
None	_clear_people_markers (self)

float	_clock_seconds (self)

None	_complete_reached_waypoints (self, RandomHuman human, float elapsed)

def	_controlled_patrol_route (self, RandomHuman human)

def	_controlled_route (self, RandomHuman human)

None	_declare_parameters (self)

bool	_emergency_in_progress (self)

None	_finish_emergency_cycle_if_ready (self, float elapsed)

None	_generate_controlled_emergency_people (self)

None	_generate_controlled_patrol_people (self)

None	_generate_people (self)

bool	_holding_emergency_position (self, RandomHuman human)

Optional[Point2D]	_lookup_robot_position (self)

float	_moving_people_clearance (self)

None	_on_spawn_done (self, RandomHuman human, future)

None	_on_state_done (self, RandomHuman human, int request_id, future)

bool	_outside_robot_keepout (self, Point2D point)

bool	_position_clear (self, RandomHuman human, Point2D point, list[RandomHuman] active, dict[str, Point2D] accepted)

None	_prepare_controlled_emergency_state (self, RandomHuman human, float elapsed)

None	_prepare_human_state (self, RandomHuman human, float elapsed)

Point2D	_propose_position (self, RandomHuman human, float dt)

None	_publish_people (self, list[RandomHuman] people)

None	_publish_people_markers (self, list[RandomHuman] people)

None	_read_parameters (self)

list[Point2D]	_robot_exclusion_points (self)

float	_route_path_length (self, route)

Point2D	_route_position_at (self, route, float elapsed)

list[Point2D]	_sample_route_points (self, Point2D start, tuple[Point2D,...] waypoints)

float	_sampled_routes_distance (self, list[Point2D] first, list[Point2D] second)

Point2D	_select_motion (self, RandomHuman human, Point2D proposed, list[RandomHuman] active, dict[str, Point2D] accepted)

None	_send_state (self, RandomHuman human, float now)

None	_spawn_next_person (self)

None	_spawn_people (self)

None	_spawn_timeout_elapsed (self)

None	_start_movement (self)

None	_startup_tick (self)

None	_trigger_emergency (self, float elapsed)

None	_update (self)

None	_validate_controlled_emergency_routes (self)

None	_validate_controlled_patrol_routes (self, routes)

None	_validate_dense_route_segment (self, str route_name, Point2D start, Point2D end)

None	_validate_parameters (self)

None	_validate_point_spacing (self, list[Point2D] points, float min_distance, str label)

None	_validate_route_robot_keepout (self, str route_name, list[Point2D] samples)

None	_validate_route_segments (self, str route_name, Point2D start, tuple[Point2D,...] waypoints)

None	_validate_sampled_route_spacing (self, list[tuple[object, list[Point2D]]] sampled_routes)

None	_validate_shared_track_timing (self, routes)

Detailed Description

Generate and move collision-aware controlled humans on an occupancy map.

Constructor & Destructor Documentation

◆ init()

def random_obstacle_spawner.RandomObstacleSpawner.__init__ ( self )

Member Function Documentation

◆ _clear_people_markers()

None random_obstacle_spawner.RandomObstacleSpawner._clear_people_markers ( self )

private

◆ _clock_seconds()

float random_obstacle_spawner.RandomObstacleSpawner._clock_seconds ( self )

private

◆ _complete_reached_waypoints()

None random_obstacle_spawner.RandomObstacleSpawner._complete_reached_waypoints	(		self,
		RandomHuman	human,
		float	elapsed
	)

private

◆ _controlled_patrol_route()

def random_obstacle_spawner.RandomObstacleSpawner._controlled_patrol_route	(		self,
		RandomHuman	human
	)

private

◆ _controlled_route()

def random_obstacle_spawner.RandomObstacleSpawner._controlled_route	(		self,
		RandomHuman	human
	)

private

◆ _declare_parameters()

None random_obstacle_spawner.RandomObstacleSpawner._declare_parameters ( self )

private

◆ _emergency_in_progress()

bool random_obstacle_spawner.RandomObstacleSpawner._emergency_in_progress ( self )

private

◆ _finish_emergency_cycle_if_ready()

None random_obstacle_spawner.RandomObstacleSpawner._finish_emergency_cycle_if_ready	(		self,
		float	elapsed
	)

private

Schedule a new emergency after gathering, waiting and dispersal.

◆ _generate_controlled_emergency_people()

None random_obstacle_spawner.RandomObstacleSpawner._generate_controlled_emergency_people ( self )

private

◆ _generate_controlled_patrol_people()

None random_obstacle_spawner.RandomObstacleSpawner._generate_controlled_patrol_people ( self )

private

◆ _generate_people()

None random_obstacle_spawner.RandomObstacleSpawner._generate_people ( self )

private

◆ _holding_emergency_position()

bool random_obstacle_spawner.RandomObstacleSpawner._holding_emergency_position	(		self,
		RandomHuman	human
	)

private

◆ _lookup_robot_position()

Optional[Point2D] random_obstacle_spawner.RandomObstacleSpawner._lookup_robot_position ( self )

private

◆ _moving_people_clearance()

float random_obstacle_spawner.RandomObstacleSpawner._moving_people_clearance ( self )

private

◆ _on_spawn_done()

None random_obstacle_spawner.RandomObstacleSpawner._on_spawn_done	(		self,
		RandomHuman	human,
			future
	)

private

◆ _on_state_done()

None random_obstacle_spawner.RandomObstacleSpawner._on_state_done	(		self,
		RandomHuman	human,
		int	request_id,
			future
	)

private

◆ _outside_robot_keepout()

bool random_obstacle_spawner.RandomObstacleSpawner._outside_robot_keepout	(		self,
		Point2D	point
	)

private

◆ _position_clear()

bool random_obstacle_spawner.RandomObstacleSpawner._position_clear	(		self,
		RandomHuman	human,
		Point2D	point,
		list[RandomHuman]	active,
		dict[str, Point2D]	accepted
	)

private

◆ _prepare_controlled_emergency_state()

None random_obstacle_spawner.RandomObstacleSpawner._prepare_controlled_emergency_state	(		self,
		RandomHuman	human,
		float	elapsed
	)

private

◆ _prepare_human_state()

None random_obstacle_spawner.RandomObstacleSpawner._prepare_human_state	(		self,
		RandomHuman	human,
		float	elapsed
	)

private

◆ _propose_position()

Point2D random_obstacle_spawner.RandomObstacleSpawner._propose_position	(		self,
		RandomHuman	human,
		float	dt
	)

private

◆ _publish_people()

None random_obstacle_spawner.RandomObstacleSpawner._publish_people	(		self,
		list[RandomHuman]	people
	)

private

◆ _publish_people_markers()

None random_obstacle_spawner.RandomObstacleSpawner._publish_people_markers	(		self,
		list[RandomHuman]	people
	)

private

Publish one flat circle per human for the RViz top-down view.

◆ _read_parameters()

None random_obstacle_spawner.RandomObstacleSpawner._read_parameters ( self )

private

◆ _robot_exclusion_points()

list[Point2D] random_obstacle_spawner.RandomObstacleSpawner._robot_exclusion_points ( self )

private

◆ _route_path_length()

float random_obstacle_spawner.RandomObstacleSpawner._route_path_length	(	self,
		route
	)

private

◆ _route_position_at()

Point2D random_obstacle_spawner.RandomObstacleSpawner._route_position_at	(		self,
			route,
		float	elapsed
	)

private

◆ _sample_route_points()

list[Point2D] random_obstacle_spawner.RandomObstacleSpawner._sample_route_points	(		self,
		Point2D	start,
		tuple[Point2D, ...]	waypoints
	)

private

◆ _sampled_routes_distance()

float random_obstacle_spawner.RandomObstacleSpawner._sampled_routes_distance	(		self,
		list[Point2D]	first,
		list[Point2D]	second
	)

private

◆ _select_motion()

Point2D random_obstacle_spawner.RandomObstacleSpawner._select_motion	(		self,
		RandomHuman	human,
		Point2D	proposed,
		list[RandomHuman]	active,
		dict[str, Point2D]	accepted
	)

private

◆ _send_state()

None random_obstacle_spawner.RandomObstacleSpawner._send_state	(		self,
		RandomHuman	human,
		float	now
	)

private

◆ _spawn_next_person()

None random_obstacle_spawner.RandomObstacleSpawner._spawn_next_person ( self )

private

◆ _spawn_people()

None random_obstacle_spawner.RandomObstacleSpawner._spawn_people ( self )

private

◆ _spawn_timeout_elapsed()

None random_obstacle_spawner.RandomObstacleSpawner._spawn_timeout_elapsed ( self )

private

◆ _start_movement()

None random_obstacle_spawner.RandomObstacleSpawner._start_movement ( self )

private

◆ _startup_tick()

None random_obstacle_spawner.RandomObstacleSpawner._startup_tick ( self )

private

◆ _trigger_emergency()

None random_obstacle_spawner.RandomObstacleSpawner._trigger_emergency	(		self,
		float	elapsed
	)

private

◆ _update()

None random_obstacle_spawner.RandomObstacleSpawner._update ( self )

private

◆ _validate_controlled_emergency_routes()

None random_obstacle_spawner.RandomObstacleSpawner._validate_controlled_emergency_routes ( self )

private

◆ _validate_controlled_patrol_routes()

None random_obstacle_spawner.RandomObstacleSpawner._validate_controlled_patrol_routes	(	self,
		routes
	)

private

◆ _validate_dense_route_segment()

None random_obstacle_spawner.RandomObstacleSpawner._validate_dense_route_segment	(		self,
		str	route_name,
		Point2D	start,
		Point2D	end
	)

private

◆ _validate_parameters()

None random_obstacle_spawner.RandomObstacleSpawner._validate_parameters ( self )

private

◆ _validate_point_spacing()

None random_obstacle_spawner.RandomObstacleSpawner._validate_point_spacing	(		self,
		list[Point2D]	points,
		float	min_distance,
		str	label
	)

private

◆ _validate_route_robot_keepout()

None random_obstacle_spawner.RandomObstacleSpawner._validate_route_robot_keepout	(		self,
		str	route_name,
		list[Point2D]	samples
	)

private

◆ _validate_route_segments()

None random_obstacle_spawner.RandomObstacleSpawner._validate_route_segments	(		self,
		str	route_name,
		Point2D	start,
		tuple[Point2D, ...]	waypoints
	)

private

◆ _validate_sampled_route_spacing()

None random_obstacle_spawner.RandomObstacleSpawner._validate_sampled_route_spacing	(		self,
		list[tuple[object, list[Point2D]]]	sampled_routes
	)

private

◆ _validate_shared_track_timing()

None random_obstacle_spawner.RandomObstacleSpawner._validate_shared_track_timing	(	self,
		routes
	)

private

◆ cleanup()

None random_obstacle_spawner.RandomObstacleSpawner.cleanup ( self )

Stop movement and delete every model successfully spawned by this node.

Member Data Documentation

◆ arrival_tolerance

random_obstacle_spawner.RandomObstacleSpawner.arrival_tolerance

◆ cleaned_up

random_obstacle_spawner.RandomObstacleSpawner.cleaned_up

◆ controlled_emergency_speed

random_obstacle_spawner.RandomObstacleSpawner.controlled_emergency_speed

◆ current_robot_position

random_obstacle_spawner.RandomObstacleSpawner.current_robot_position

◆ delete_client

random_obstacle_spawner.RandomObstacleSpawner.delete_client

◆ emergency_cycle

random_obstacle_spawner.RandomObstacleSpawner.emergency_cycle

◆ emergency_cycle_active

random_obstacle_spawner.RandomObstacleSpawner.emergency_cycle_active

◆ emergency_duration

random_obstacle_spawner.RandomObstacleSpawner.emergency_duration

◆ emergency_loop

random_obstacle_spawner.RandomObstacleSpawner.emergency_loop

◆ emergency_repeat_interval

random_obstacle_spawner.RandomObstacleSpawner.emergency_repeat_interval

◆ emergency_start_time

random_obstacle_spawner.RandomObstacleSpawner.emergency_start_time

◆ fallback_robot_position

random_obstacle_spawner.RandomObstacleSpawner.fallback_robot_position

◆ gazebo_service_timeout

random_obstacle_spawner.RandomObstacleSpawner.gazebo_service_timeout

◆ gazebo_state_timeout

random_obstacle_spawner.RandomObstacleSpawner.gazebo_state_timeout

◆ gazebo_state_update_rate

random_obstacle_spawner.RandomObstacleSpawner.gazebo_state_update_rate

◆ human_radius

random_obstacle_spawner.RandomObstacleSpawner.human_radius

◆ last_update

random_obstacle_spawner.RandomObstacleSpawner.last_update

◆ map

random_obstacle_spawner.RandomObstacleSpawner.map

◆ map_frame

random_obstacle_spawner.RandomObstacleSpawner.map_frame

◆ map_yaml

random_obstacle_spawner.RandomObstacleSpawner.map_yaml

◆ marker_pub

random_obstacle_spawner.RandomObstacleSpawner.marker_pub

◆ min_people_distance

random_obstacle_spawner.RandomObstacleSpawner.min_people_distance

◆ min_robot_distance

random_obstacle_spawner.RandomObstacleSpawner.min_robot_distance

◆ min_wall_distance

random_obstacle_spawner.RandomObstacleSpawner.min_wall_distance

◆ movement_started

random_obstacle_spawner.RandomObstacleSpawner.movement_started

◆ movement_timer

random_obstacle_spawner.RandomObstacleSpawner.movement_timer

◆ moving_people_distance

random_obstacle_spawner.RandomObstacleSpawner.moving_people_distance

◆ next_emergency_time

random_obstacle_spawner.RandomObstacleSpawner.next_emergency_time

◆ next_gazebo_state_update

random_obstacle_spawner.RandomObstacleSpawner.next_gazebo_state_update

◆ next_spawn_index

random_obstacle_spawner.RandomObstacleSpawner.next_spawn_index

◆ pending_spawns

random_obstacle_spawner.RandomObstacleSpawner.pending_spawns

◆ people

random_obstacle_spawner.RandomObstacleSpawner.people

◆ people_pub

random_obstacle_spawner.RandomObstacleSpawner.people_pub

◆ robot_frame

random_obstacle_spawner.RandomObstacleSpawner.robot_frame

◆ robot_tf_timeout

random_obstacle_spawner.RandomObstacleSpawner.robot_tf_timeout

◆ scenario

random_obstacle_spawner.RandomObstacleSpawner.scenario

◆ set_state_client

random_obstacle_spawner.RandomObstacleSpawner.set_state_client

◆ simulation_start

random_obstacle_spawner.RandomObstacleSpawner.simulation_start

◆ spawn_client

random_obstacle_spawner.RandomObstacleSpawner.spawn_client

◆ spawn_response_timeout

random_obstacle_spawner.RandomObstacleSpawner.spawn_response_timeout

◆ spawn_timeout_timer

random_obstacle_spawner.RandomObstacleSpawner.spawn_timeout_timer

◆ startup_started

random_obstacle_spawner.RandomObstacleSpawner.startup_started

◆ startup_timer

random_obstacle_spawner.RandomObstacleSpawner.startup_timer

◆ steady_clock

random_obstacle_spawner.RandomObstacleSpawner.steady_clock

◆ tf_buffer

random_obstacle_spawner.RandomObstacleSpawner.tf_buffer

◆ tf_listener

random_obstacle_spawner.RandomObstacleSpawner.tf_listener

◆ update_rate

random_obstacle_spawner.RandomObstacleSpawner.update_rate

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

Code/src/robot_simulation/scripts/random_obstacle_spawner.py

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ _clear_people_markers()

◆ _clock_seconds()

◆ _complete_reached_waypoints()

◆ _controlled_patrol_route()

◆ _controlled_route()

◆ _declare_parameters()

◆ _emergency_in_progress()

◆ _finish_emergency_cycle_if_ready()

◆ _generate_controlled_emergency_people()

◆ _generate_controlled_patrol_people()

◆ _generate_people()

◆ _holding_emergency_position()

◆ _lookup_robot_position()

◆ _moving_people_clearance()

◆ _on_spawn_done()

◆ _on_state_done()

◆ _outside_robot_keepout()

◆ _position_clear()

◆ _prepare_controlled_emergency_state()

◆ _prepare_human_state()

◆ _propose_position()

◆ _publish_people()

◆ _publish_people_markers()

◆ _read_parameters()

◆ _robot_exclusion_points()

◆ _route_path_length()

◆ _route_position_at()

◆ _sample_route_points()

◆ _sampled_routes_distance()

◆ _select_motion()

◆ _send_state()

◆ _spawn_next_person()

◆ _spawn_people()

◆ _spawn_timeout_elapsed()

◆ _start_movement()

◆ _startup_tick()

◆ _trigger_emergency()

◆ _update()

◆ _validate_controlled_emergency_routes()

◆ _validate_controlled_patrol_routes()

◆ _validate_dense_route_segment()

◆ _validate_parameters()

◆ _validate_point_spacing()

◆ _validate_route_robot_keepout()

◆ _validate_route_segments()

◆ _validate_sampled_route_spacing()

◆ _validate_shared_track_timing()

◆ cleanup()

Member Data Documentation

◆ arrival_tolerance

◆ cleaned_up

◆ controlled_emergency_speed

◆ current_robot_position

◆ delete_client

◆ emergency_cycle

◆ emergency_cycle_active

◆ emergency_duration

◆ emergency_loop

◆ emergency_repeat_interval

◆ emergency_start_time

◆ fallback_robot_position

◆ gazebo_service_timeout

◆ gazebo_state_timeout

◆ gazebo_state_update_rate

◆ human_radius

◆ last_update

◆ map

◆ map_frame

◆ map_yaml

◆ marker_pub

◆ min_people_distance

◆ min_robot_distance

◆ min_wall_distance

◆ init()