Classes
class	CommandAlertsUnwatch

class	CommandClearPublicAIDataForSubject
	Deletes the AI detection data for a given subject. More...

class	CommandDrawPathOnSimulator

class	CommandEntitiesGet

class	CommandEntitiesInsert

class	CommandEntitiesRemove

class	CommandEntityCaptureImageToEnv

class	CommandEntityClearCurrentPath

class	CommandEntityConnect

struct	CommandEntityConnectResult

class	CommandEntityGetCurrentPath

struct	CommandEntityGetCurrentPathResult

class	CommandEntityInsert

class	CommandEntityModelLogoGet

class	CommandEntityModelsGet

class	CommandEntityModelSourceFileGet

class	CommandEntityPlayMotion

class	CommandEntityProcess

class	CommandEntitySequenceAction

class	CommandEntityStreamsGet

class	CommandEntityStreamStart

class	CommandEntityToOrientation

struct	CommandEntityToOrientationOptions

class	CommandEntityToPosition

class	CommandEntityToPositionGetClosestValidPosition

class	CommandEntityToPositions

class	CommandFollowTrackedObject

class	CommandGetLastCartography

class	CommandGetPublicAIDataForSubject
	Returns the AI detection data for a given subject. The data is overwritten by new detections and can be manually. More...

class	CommandGoToElevatorStart

class	CommandHumanDecisionAnswer

class	CommandHumanDecisionsGet

struct	CommandSmallMoveToBestDirectionOptions

class	CommandUpdateSensorValues

class	CommandVisionDetectSingleFrame

class	CommandVocalPhoneCallTest

struct	CscEntityClientAndIdentity

struct	EntitiesGetFiltersCommandDataType

struct	EntityModelCommandDataType

struct	EntityModelsGetFiltersCommandDataType

struct	EntityMotionParametersCommandDataType

struct	EntityStreamCommandDataType

struct	EntityToPositionGetClosestValidPositionResult

struct	EntityToPositionResultData

struct	EntityVideoSourceLocalDeviceCommandDataType

struct	EntityVideoSourceLocalFileCommandDataType

struct	EntityVideoSourceNetworkStreamCommandDataType

struct	EntityVideoSourcesCommandDataType

struct	RealEntityNetworkParamsCommandDataType

struct	WorldEntityCommandDataType

Functions
CscPoint3d *	positionToGridVertex (const CscPoint3d &position, const CscArea3d *zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

long long	positionToGridNodeIndex (const CscPoint3d &position, const CscArea3d *zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

static int	gridVertexToVertex (const CscPoint3d *position, int matrixSize)

static CscPoint3d *	vertexToGridVertex (int vertex, int matrixSize)

static CscPoint3d *	gridVertexToPosition (int vertex, double y, const CscArea3d *zone, int matrixSize)

static int	positionToVertex (const CscPoint3d position, const CscArea3d zone, int matrixSize, CommandEntityToPositionAlgorithm algorithm)

static void	markNodesAvailableForWorldPoints (const vector< CscPoint3d * > &worldPoints, bool available, int radiusX, int radiusZ, const CscArea3d *zone, int matrixSize, vector< bool > &nodesIsAccessible, CommandEntityToPositionAlgorithm algorithm)

template<DerivedFromCscWorldElement T>
static void	markWorldElementsOccupied (const vector< T * > elements, double distanceWithObjectAutorized, const CscArea3d *zone, int matrixSize, vector< bool > &nodesIsAccessible, const CscSize3d &robotDimensions, CommandEntityToPositionAlgorithm algorithm)

static void	markLidarPointsOccupied (const vector< CscPoint3d * > &mapPoints, double distanceWithObjectAutorized, CscArea3d zone, int matrixSize, vector< bool > &nodesIsAccessible, const vector< string > placeModelIdsToIgnore, const CscEnvironmentSimulator &environmentSimulator, CommandEntityToPositionAlgorithm algorithm)

static void	markLidarPointsOccupied (const ptr< CscEntityReflexion > &entityReflexion, double distanceWithObjectAutorized, CscArea3d zone, int matrixSize, vector< bool > &nodesIsAccessible, const vector< string > placeModelIdsToIgnore, const CscEnvironmentSimulator &environmentSimulator, CommandEntityToPositionAlgorithm algorithm)

static DijkstraAdjacency	loadMatrixFromEnvironment (const CscArea3d zone, int matrixSize, vector< CscPoint3d > &gridVertices, vector< bool > &nodesIsAccessible)

static void	saveGridPathPNG (int matrixSize, const vector< bool > &nodesIsAccessible, const vector< pair< int, double >> &path, const CscPoint3d &robotCenterWorld, const CscPoint3d &targetPosition, double initialRobotYaw, const CscSize3d &entityBbox, const CscArea3d zone, CommandEntityToPositionAlgorithm algorithm, const CscPoint3d closestPoint=nullptr)

EntityToPositionResultData *	executeEntityToPosition (CommandEntityToPositionAlgorithm algorithm, ptr< CscEntityReflexion > entityReflexion, const CscPoint3d forcedStartPosition, const CscPoint3d targetPosition, CscArea3d zone, optional< double > distanceWithObjectAutorizedMaybe, optional< int > matrixSizeMaybe, optional< bool > useGnssCoordinatesMaybe, const vector< string > placeModelIdsToIgnore, CscEnvironmentSimulator &environmentSimulator, bool computeClosestValidPoint=false, const vector< CscPoint3d * > *cartographyPoints=nullptr)

optional< CscPoint3d * >	computeValidReachPosition (CommandEntityToPositionAlgorithm algorithm, ptr< CscEntityReflexion > entityReflexion, const CscPoint3d startPosition, const CscPoint3d targetPosition, optional< double > distanceWithObjectAutorizedMaybe, const vector< string > placeModelIdsToIgnore, CscArea3d zone, optional< int > matrixSizeMaybe, optional< bool > useGnssCoordinatesMaybe, CscEnvironmentSimulator &environmentSimulator)

CscPoint3d *	evaluateEntityToPositionStartPosition (const CscPoint3d *requestedStartPosition, optional< bool > useGnssCoordinates, ptr< CscEntityReflexion > entityReflexion, CscEnvironmentSimulator &environmentSimulator)

	ENUM (CommandEntityToPositionAlgorithm, CommandEntityToPositionAlgorithm_Default, CommandEntityToPositionAlgorithm_Dijkstra)

void	stopAllSequences (const ptr< CscEntityReflexion > &entityReflexion, CscEnvironmentSimulator &environmentSimulator)

bool	doesEntityMatchFilters (const CscWorldEntity entity, const CscPoint3d &entityPosition, const EntitiesGetFiltersCommandDataType filters)

CscEntityClientAndIdentity *	getEntityClientAndIdentityFromRealEntityNetworkParams (const string &serialNumber, optional< bool > isSimulated, const RealEntityNetworkParamsCommandDataType *realEntityNetworkParams, CscEnvironmentSimulator &environmentSimulator)

void	moveRobotWheels (const ptr< CscEntityReflexion > &entityReflexion, double leftPercent, double rightPercent)

void	stopRobotWheels (const ptr< CscEntityReflexion > &entityReflexion)

	COMMAND_RESULT_JSON_SERIALIZER (WorldEntityCommandDataType, id, name, modelId, position, rotationEuler, entityStatusFlags, currentSequenceIndex, rotationQuaternion) ENUM(EntityStreamFormat

	COMMAND_RESULT_JSON_SERIALIZER (EntityStreamCommandDataType, id, accessData, directStreamUrl, type, is360) struct CSC_DLL_IMPORTEXPORT EntityStreamStartParamsCommandDataType

	COMMAND_TYPE_BUILDER (CommandEntityConnect, RealEntityNetworkParamsCommandDataType, const string &, const string &, unsigned long long, unsigned long long, bool, vector< ptr< EntityVideoSourceNetworkStreamCommandDataType >> , vector< ptr< EntityVideoSourceLocalFileCommandDataType >> , vector< ptr< EntityVideoSourceLocalDeviceCommandDataType >> *) struct CSC_DLL_IMPORTEXPORT EntityPendingInsertionCommandDataType

	COMMAND_TYPE_BUILDER (CommandEntitiesInsert, EntityVideoSourcesCommandDataType, vector< ptr< EntityVideoSourceLocalFileCommandDataType >> , vector< ptr< EntityVideoSourceLocalDeviceCommandDataType >> , vector< ptr< EntityVideoSourceNetworkStreamCommandDataType >> *) COMMAND_TYPE_BUILDER(CommandEntitiesInsert

CscEntityClientAndIdentity *	getEntityClientAndIdentityFromRealEntityNetworkParams (optional< bool > isSimulated, optional< ptr< RealEntityNetworkParamsCommandDataType >> realEntityNetworkParams)

Variables
static std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CommandEntityToPosition")

static constexpr double	MAX_DISTANCE_FOR_SHEARCH_NEW_TARGET_IN_CM = 300.0

static constexpr bool	savePathFindingAsPngEnabled = false

static constexpr unsigned long long	maxLidarValuesTimeMillis = 1500

template<typename T >
concept	DerivedFromCscWorldElement = std::is_base_of_v<CscWorldElement, T>

static std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CommandEntityToPositions")

static std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("environmentEntitiesCommands")

	MJPG

	RTSP

	EntityPendingInsertionCommandDataType

const string const string EntityVideoSourcesCommandDataType CscPoint3d CscPoint3d	bool

Function Documentation

◆ COMMAND_RESULT_JSON_SERIALIZER() [1/2]

conscience_core::bridging::commands::environment_entities::COMMAND_RESULT_JSON_SERIALIZER	(	EntityStreamCommandDataType	,
		id	,
		accessData	,
		directStreamUrl	,
		type	,
		is360
	)

Default constructor. Initializes fields to default values.

Parameters for starting an entity stream.

Parameters

entitySerialNumber	The serial number of the entity.
streamId	The ID of the stream.
withAIOverlay	If true, the stream will be watched with AI artifacts overlay. Default is false.
noErrorIfStreamUnavailable	If true, won't throw if the stream is not opened. Default is false.

◆ COMMAND_RESULT_JSON_SERIALIZER() [2/2]

conscience_core::bridging::commands::environment_entities::COMMAND_RESULT_JSON_SERIALIZER	(	WorldEntityCommandDataType	,
		id	,
		name	,
		modelId	,
		position	,
		rotationEuler	,
		entityStatusFlags	,
		currentSequenceIndex	,
		rotationQuaternion
	)

◆ COMMAND_TYPE_BUILDER() [1/2]

conscience_core::bridging::commands::environment_entities::COMMAND_TYPE_BUILDER	(	CommandEntitiesInsert	,
		EntityVideoSourcesCommandDataType	,
		vector< ptr< EntityVideoSourceLocalFileCommandDataType >> *	,
		vector< ptr< EntityVideoSourceLocalDeviceCommandDataType >> *	,
		vector< ptr< EntityVideoSourceNetworkStreamCommandDataType >> *
	)

◆ COMMAND_TYPE_BUILDER() [2/2]

conscience_core::bridging::commands::environment_entities::COMMAND_TYPE_BUILDER	(	CommandEntityConnect	,
		RealEntityNetworkParamsCommandDataType	,
		const string &	,
		const string &	,
		unsigned long long	,
		unsigned long long	,
		bool	,
		vector< ptr< EntityVideoSourceNetworkStreamCommandDataType >> *	,
		vector< ptr< EntityVideoSourceLocalFileCommandDataType >> *	,
		vector< ptr< EntityVideoSourceLocalDeviceCommandDataType >> *
	)

Default constructor. Initializes fields to default values.

Defines data required to inject an entity into Conscience environment.

Parameters

serialNumber	The serial number of the entity.
modelId	The model ID of the entity.
videoSources	The video sources of the entity.
position	The position of the entity.
rotation	The rotation of the entity.
isSimulatedEntity	Whether the entity is simulated. Default is false.
useGnssPositioning	Whether to use GNSS positioning. Default is false.
realEntityNetworkParams	The network parameters of the real entity.
simulatedInputsType	enum for simulated inputs for real entity. 0= gnss, 1= xyz, 2= no format

◆ computeValidReachPosition()

optional< CscPoint3d * > conscience_core::bridging::commands::environment_entities::computeValidReachPosition	(	CommandEntityToPositionAlgorithm	algorithm,
		ptr< CscEntityReflexion >	entityReflexion,
		const CscPoint3d *	startPosition,
		const CscPoint3d *	targetPosition,
		optional< double >	distanceWithObjectAutorizedMaybe,
		const vector< string > *	,
		CscArea3d *	zone,
		optional< int >	matrixSizeMaybe,
		optional< bool >	useGnssCoordinatesMaybe,
		CscEnvironmentSimulator &	environmentSimulator
	)

given pointers WON'T be DELETED

◆ doesEntityMatchFilters()

bool conscience_core::bridging::commands::environment_entities::doesEntityMatchFilters	(	const CscWorldEntity *	entity,
		const CscPoint3d &	entityPosition,
		const EntitiesGetFiltersCommandDataType *	filters
	)

inline

◆ ENUM()

conscience_core::bridging::commands::environment_entities::ENUM	(	CommandEntityToPositionAlgorithm	,
		CommandEntityToPositionAlgorithm_Default	,
		CommandEntityToPositionAlgorithm_Dijkstra
	)

◆ evaluateEntityToPositionStartPosition()

CscPoint3d * conscience_core::bridging::commands::environment_entities::evaluateEntityToPositionStartPosition	(	const CscPoint3d *	requestedStartPosition,
		optional< bool >	useGnssCoordinates,
		ptr< CscEntityReflexion >	entityReflexion,
		CscEnvironmentSimulator &	environmentSimulator
	)

◆ executeEntityToPosition()

EntityToPositionResultData* conscience_core::bridging::commands::environment_entities::executeEntityToPosition	(	CommandEntityToPositionAlgorithm	algorithm,
		ptr< CscEntityReflexion >	entityReflexion,
		const CscPoint3d *	forcedStartPosition,
		const CscPoint3d *	targetPosition,
		CscArea3d *	zone,
		optional< double >	distanceWithObjectAutorizedMaybe,
		optional< int >	matrixSizeMaybe,
		optional< bool >	useGnssCoordinatesMaybe,
		const vector< string > *	placeModelIdsToIgnore,
		CscEnvironmentSimulator &	environmentSimulator,
		bool	computeClosestValidPoint = `false`,
		const vector< CscPoint3d * > *	cartographyPoints = `nullptr`
	)

inline

given pointers WON't be DELETED

◆ getEntityClientAndIdentityFromRealEntityNetworkParams() [1/2]

CscEntityClientAndIdentity* conscience_core::bridging::commands::environment_entities::getEntityClientAndIdentityFromRealEntityNetworkParams	(	const string &	serialNumber,
		optional< bool >	isSimulated,
		const RealEntityNetworkParamsCommandDataType *	realEntityNetworkParams,
		CscEnvironmentSimulator &	environmentSimulator
	)

inline

◆ getEntityClientAndIdentityFromRealEntityNetworkParams() [2/2]

CscEntityClientAndIdentity* conscience_core::bridging::commands::environment_entities::getEntityClientAndIdentityFromRealEntityNetworkParams	(	optional< bool >	isSimulated,
		optional< ptr< RealEntityNetworkParamsCommandDataType >>	realEntityNetworkParams
	)

◆ gridVertexToPosition()

static CscPoint3d* conscience_core::bridging::commands::environment_entities::gridVertexToPosition	(	int	vertex,
		double	y,
		const CscArea3d *	zone,
		int	matrixSize
	)

static

◆ gridVertexToVertex()

static int conscience_core::bridging::commands::environment_entities::gridVertexToVertex	(	const CscPoint3d *	position,
		int	matrixSize
	)

static

◆ loadMatrixFromEnvironment()

static DijkstraAdjacency conscience_core::bridging::commands::environment_entities::loadMatrixFromEnvironment	(	const CscArea3d *	zone,
		int	matrixSize,
		vector< CscPoint3d * > &	gridVertices,
		vector< bool > &	nodesIsAccessible
	)

static

◆ markLidarPointsOccupied() [1/2]

static void conscience_core::bridging::commands::environment_entities::markLidarPointsOccupied	(	const ptr< CscEntityReflexion > &	entityReflexion,
		double	distanceWithObjectAutorized,
		CscArea3d *	zone,
		int	matrixSize,
		vector< bool > &	nodesIsAccessible,
		const vector< string > *	placeModelIdsToIgnore,
		const CscEnvironmentSimulator &	environmentSimulator,
		CommandEntityToPositionAlgorithm	algorithm
	)

static

◆ markLidarPointsOccupied() [2/2]

static void conscience_core::bridging::commands::environment_entities::markLidarPointsOccupied	(	const vector< CscPoint3d * > &	mapPoints,
		double	distanceWithObjectAutorized,
		CscArea3d *	zone,
		int	matrixSize,
		vector< bool > &	nodesIsAccessible,
		const vector< string > *	placeModelIdsToIgnore,
		const CscEnvironmentSimulator &	environmentSimulator,
		CommandEntityToPositionAlgorithm	algorithm
	)

static

◆ markNodesAvailableForWorldPoints()

static void conscience_core::bridging::commands::environment_entities::markNodesAvailableForWorldPoints	(	const vector< CscPoint3d * > &	worldPoints,
		bool	available,
		int	radiusX,
		int	radiusZ,
		const CscArea3d *	zone,
		int	matrixSize,
		vector< bool > &	nodesIsAccessible,
		CommandEntityToPositionAlgorithm	algorithm
	)

static

◆ markWorldElementsOccupied()

template<DerivedFromCscWorldElement T>

static void conscience_core::bridging::commands::environment_entities::markWorldElementsOccupied	(	const vector< T * >	elements,
		double	distanceWithObjectAutorized,
		const CscArea3d *	zone,
		int	matrixSize,
		vector< bool > &	nodesIsAccessible,
		const CscSize3d &	robotDimensions,
		CommandEntityToPositionAlgorithm	algorithm
	)

static

◆ moveRobotWheels()

void conscience_core::bridging::commands::environment_entities::moveRobotWheels	(	const ptr< CscEntityReflexion > &	entityReflexion,
		double	leftPercent,
		double	rightPercent
	)

◆ positionToGridNodeIndex()

long long conscience_core::bridging::commands::environment_entities::positionToGridNodeIndex	(	const CscPoint3d &	position,
		const CscArea3d *	zone,
		int	matrixSize,
		CommandEntityToPositionAlgorithm	algorithm
	)

inline

◆ positionToGridVertex()

CscPoint3d* conscience_core::bridging::commands::environment_entities::positionToGridVertex	(	const CscPoint3d &	position,
		const CscArea3d *	zone,
		int	matrixSize,
		CommandEntityToPositionAlgorithm	algorithm
	)

inline

◆ positionToVertex()

static int conscience_core::bridging::commands::environment_entities::positionToVertex	(	const CscPoint3d *	position,
		const CscArea3d *	zone,
		int	matrixSize,
		CommandEntityToPositionAlgorithm	algorithm
	)

static

◆ saveGridPathPNG()

static void conscience_core::bridging::commands::environment_entities::saveGridPathPNG	(	int	matrixSize,
		const vector< bool > &	nodesIsAccessible,
		const vector< pair< int, double >> &	path,
		const CscPoint3d &	robotCenterWorld,
		const CscPoint3d &	targetPosition,
		double	initialRobotYaw,
		const CscSize3d &	entityBbox,
		const CscArea3d *	zone,
		CommandEntityToPositionAlgorithm	algorithm,
		const CscPoint3d *	closestPoint = `nullptr`
	)

static

◆ stopAllSequences()

void conscience_core::bridging::commands::environment_entities::stopAllSequences	(	const ptr< CscEntityReflexion > &	entityReflexion,
		CscEnvironmentSimulator &	environmentSimulator
	)

◆ stopRobotWheels()

void conscience_core::bridging::commands::environment_entities::stopRobotWheels ( const ptr< CscEntityReflexion > & entityReflexion )

◆ vertexToGridVertex()

static CscPoint3d* conscience_core::bridging::commands::environment_entities::vertexToGridVertex	(	int	vertex,
		int	matrixSize
	)

static

Variable Documentation

◆ bool

const string const string EntityVideoSourcesCommandDataType CscPoint3d CscPoint3d conscience_core::bridging::commands::environment_entities::bool

◆ DerivedFromCscWorldElement

template<typename T >

concept conscience_core::bridging::commands::environment_entities::DerivedFromCscWorldElement = std::is_base_of_v<CscWorldElement, T>

◆ EntityPendingInsertionCommandDataType

conscience_core::bridging::commands::environment_entities::EntityPendingInsertionCommandDataType::EntityPendingInsertionCommandDataType

◆ logger [1/3]

std::unique_ptr<CscLogger> conscience_core::bridging::commands::environment_entities::logger = CscLogger::getForCategory("CommandEntityToPositions")

static

◆ logger [2/3]

std::unique_ptr<CscLogger> conscience_core::bridging::commands::environment_entities::logger = CscLogger::getForCategory("CommandEntityToPosition")

static

◆ logger [3/3]

std::unique_ptr<CscLogger> conscience_core::bridging::commands::environment_entities::logger = CscLogger::getForCategory("environmentEntitiesCommands")

static

◆ MAX_DISTANCE_FOR_SHEARCH_NEW_TARGET_IN_CM

constexpr double conscience_core::bridging::commands::environment_entities::MAX_DISTANCE_FOR_SHEARCH_NEW_TARGET_IN_CM = 300.0

staticconstexpr

◆ maxLidarValuesTimeMillis

constexpr unsigned long long conscience_core::bridging::commands::environment_entities::maxLidarValuesTimeMillis = 1500

staticconstexpr

◆ MJPG

conscience_core::bridging::commands::environment_entities::MJPG

◆ RTSP

conscience_core::bridging::commands::environment_entities::RTSP

◆ savePathFindingAsPngEnabled

constexpr bool conscience_core::bridging::commands::environment_entities::savePathFindingAsPngEnabled = false

staticconstexpr

Conscience Core

Classes

Functions

Variables

Function Documentation

◆ COMMAND_RESULT_JSON_SERIALIZER() [1/2]

◆ COMMAND_RESULT_JSON_SERIALIZER() [2/2]

◆ COMMAND_TYPE_BUILDER() [1/2]

◆ COMMAND_TYPE_BUILDER() [2/2]

◆ computeValidReachPosition()

◆ doesEntityMatchFilters()

◆ ENUM()

◆ evaluateEntityToPositionStartPosition()

◆ executeEntityToPosition()

◆ getEntityClientAndIdentityFromRealEntityNetworkParams() [1/2]

◆ getEntityClientAndIdentityFromRealEntityNetworkParams() [2/2]

◆ gridVertexToPosition()

◆ gridVertexToVertex()

◆ loadMatrixFromEnvironment()

◆ markLidarPointsOccupied() [1/2]

◆ markLidarPointsOccupied() [2/2]

◆ markNodesAvailableForWorldPoints()

◆ markWorldElementsOccupied()

◆ moveRobotWheels()

◆ positionToGridNodeIndex()

◆ positionToGridVertex()

◆ positionToVertex()

◆ saveGridPathPNG()

◆ stopAllSequences()

◆ stopRobotWheels()

◆ vertexToGridVertex()

Variable Documentation

◆ bool

◆ DerivedFromCscWorldElement

◆ EntityPendingInsertionCommandDataType

◆ logger [1/3]

◆ logger [2/3]

◆ logger [3/3]

◆ MAX_DISTANCE_FOR_SHEARCH_NEW_TARGET_IN_CM

◆ maxLidarValuesTimeMillis

◆ MJPG

◆ RTSP

◆ savePathFindingAsPngEnabled