Add ActorSnapshot

LibCarla/source/carla/client/ActorSnapshot.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/geom/Transform.h"
+#include "carla/geom/Vector3D.h"
+#include "carla/rpc/ActorId.h"
+#include "carla/sensor/data/ActorDynamicState.h"
+
+namespace carla {
+namespace client {
+
+  struct ActorSnapshot {
+    ActorId id = 0u;
+    geom::Transform transform;
+    geom::Vector3D velocity;
+    geom::Vector3D angular_velocity;
+    geom::Vector3D acceleration;
+    sensor::data::ActorDynamicState::TypeDependentState state;
+  };
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/TrafficLight.cpp

@@ -16,7 +16,7 @@ namespace client {
   }
 
   rpc::TrafficLightState TrafficLight::GetState() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.state;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.state;
   }
 
   void TrafficLight::SetGreenTime(float green_time) {
@@ -24,7 +24,7 @@ namespace client {
   }
 
   float TrafficLight::GetGreenTime() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.green_time;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.green_time;
   }
 
   void TrafficLight::SetYellowTime(float yellow_time) {
@@ -32,7 +32,7 @@ namespace client {
   }
 
   float TrafficLight::GetYellowTime() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.yellow_time;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.yellow_time;
   }
 
   void TrafficLight::SetRedTime(float red_time) {
@@ -40,11 +40,11 @@ namespace client {
   }
 
   float TrafficLight::GetRedTime() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.red_time;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.red_time;
   }
 
   float TrafficLight::GetElapsedTime() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.elapsed_time;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.elapsed_time;
   }
 
   void TrafficLight::Freeze(bool freeze) {
@@ -52,12 +52,12 @@ namespace client {
   }
 
   bool TrafficLight::IsFrozen() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.time_is_frozen;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.time_is_frozen;
   }
 
   uint32_t TrafficLight::GetPoleIndex()
   {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.pole_index;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.pole_index;
   }
 
   std::vector<SharedPtr<TrafficLight>> TrafficLight::GetGroupTrafficLights() {

LibCarla/source/carla/client/Vehicle.cpp

@@ -44,7 +44,7 @@ namespace client {
   }
 
   Vehicle::Control Vehicle::GetControl() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.control;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.control;
   }
 
   Vehicle::PhysicsControl Vehicle::GetPhysicsControl() const {
@@ -52,19 +52,19 @@ namespace client {
   }
 
   float Vehicle::GetSpeedLimit() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.speed_limit;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.speed_limit;
   }
 
   rpc::TrafficLightState Vehicle::GetTrafficLightState() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.traffic_light_state;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.traffic_light_state;
   }
 
   bool Vehicle::IsAtTrafficLight() {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.has_traffic_light;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.has_traffic_light;
   }
 
   SharedPtr<TrafficLight> Vehicle::GetTrafficLight() const {
-    auto id = GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_data.traffic_light_id;
+    auto id = GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.traffic_light_id;
     return boost::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
   }
 

LibCarla/source/carla/client/Walker.cpp

@@ -19,7 +19,7 @@ namespace client {
   }
 
   Walker::Control Walker::GetWalkerControl() const {
-    return GetEpisode().Lock()->GetActorDynamicState(*this).state.walker_control;
+    return GetEpisode().Lock()->GetActorSnapshot(*this).state.walker_control;
   }
 
 } // namespace client

LibCarla/source/carla/client/detail/EpisodeState.cpp

@@ -22,7 +22,8 @@ namespace detail {
       DEBUG_ONLY(auto result = )
       _actors.emplace(
           actor.id,
-          ActorState{
+          ActorSnapshot{
+              actor.id,
               actor.transform,
               actor.velocity,
               actor.angular_velocity,

LibCarla/source/carla/client/detail/EpisodeState.h

@@ -9,8 +9,8 @@
 #include "carla/Iterator.h"
 #include "carla/ListView.h"
 #include "carla/NonCopyable.h"
+#include "carla/client/ActorSnapshot.h"
 #include "carla/client/Timestamp.h"
-#include "carla/sensor/data/ActorDynamicState.h"
 #include "carla/sensor/data/RawEpisodeState.h"
 
 #include <memory>
@@ -26,14 +26,6 @@ namespace detail {
       private NonCopyable {
   public:
 
-    struct ActorState {
-      geom::Transform transform;
-      geom::Vector3D velocity;
-      geom::Vector3D angular_velocity;
-      geom::Vector3D acceleration;
-      sensor::data::ActorDynamicState::TypeDependentState state;
-    };
-
     explicit EpisodeState(uint64_t episode_id) : _episode_id(episode_id) {}
 
     explicit EpisodeState(const sensor::data::RawEpisodeState &state);
@@ -50,8 +42,8 @@ namespace detail {
       return _timestamp;
     }
 
-    ActorState GetActorState(ActorId id) const {
-      ActorState state;
+    ActorSnapshot GetActorSnapshot(ActorId id) const {
+      ActorSnapshot state;
       auto it = _actors.find(id);
       if (it != _actors.end()) {
         state = it->second;
@@ -73,7 +65,7 @@ namespace detail {
 
     const Timestamp _timestamp;
 
-    std::unordered_map<ActorId, ActorState> _actors;
+    std::unordered_map<ActorId, ActorSnapshot> _actors;
   };
 
 } // namespace detail

LibCarla/source/carla/client/detail/Simulator.h

@@ -215,21 +215,25 @@ namespace detail {
 
     bool DestroyActor(Actor &actor);
 
-    auto GetActorDynamicState(const Actor &actor) const {
+    ActorSnapshot GetActorSnapshot(ActorId actor_id) const {
       DEBUG_ASSERT(_episode != nullptr);
-      return _episode->GetState()->GetActorState(actor.GetId());
+      return _episode->GetState()->GetActorSnapshot(actor_id);
+    }
+
+    ActorSnapshot GetActorSnapshot(const Actor &actor) const {
+      return GetActorSnapshot(actor.GetId());
     }
 
     geom::Location GetActorLocation(const Actor &actor) const {
-      return GetActorDynamicState(actor).transform.location;
+      return GetActorSnapshot(actor).transform.location;
     }
 
     geom::Transform GetActorTransform(const Actor &actor) const {
-      return GetActorDynamicState(actor).transform;
+      return GetActorSnapshot(actor).transform;
     }
 
     geom::Vector3D GetActorVelocity(const Actor &actor) const {
-      return GetActorDynamicState(actor).velocity;
+      return GetActorSnapshot(actor).velocity;
     }
 
     void SetActorVelocity(const Actor &actor, const geom::Vector3D &vector) {
@@ -237,7 +241,7 @@ namespace detail {
     }
 
     geom::Vector3D GetActorAngularVelocity(const Actor &actor) const {
-      return GetActorDynamicState(actor).angular_velocity;
+      return GetActorSnapshot(actor).angular_velocity;
     }
 
     void SetActorAngularVelocity(const Actor &actor, const geom::Vector3D &vector) {
@@ -249,7 +253,7 @@ namespace detail {
     }
 
     geom::Vector3D GetActorAcceleration(const Actor &actor) const {
-      return GetActorDynamicState(actor).acceleration;
+      return GetActorSnapshot(actor).acceleration;
     }
 
     void SetActorLocation(Actor &actor, const geom::Location &location) {