Common (C++)#

class Session#

Public Functions

inline explicit Session(net::io_context &ioc, ssl::context &ctx)#

void set_api_key(const std::string &api_key)#: Set your own api key here.

void set_url(const char *&host, const char *&port, const char *&subdomain)#: Set a specific API URL here.

void connect()#: Connect the session to the host. You can connect once and use the shared session for different request.

void shutdown()#: Shutdown the session.

const std::string request(const std::string &mode, const std::string &body_str, const std::string &url_params)#: Use the mode(“location_info”, “initialize”, “drive”) to construct a request, sent the request to host, and return the body string of the response.

Public Members

const char *host_ = local_mode ? "localhost" : "api.inverted.ai"#

const char *port_ = local_mode ? "8000" : "443"#

const char *subdomain = local_mode ? "/" : "/v0/aws/m1/"#

const int version_ = 11#

struct AgentState#

The current or predicted state of a given agent at a given point.

Public Members

double x#: The center point of the agent’s bounding box.

double y#

double orientation#: The direction the agent is facing, in radians with 0 pointing along x and pi/2 pointing along y.

double speed#: In meters per second, negative if the agent is reversing.

struct AgentAttributes#

Static attributes of the agent, which don’t change over the course of a simulation. We assume every agent is a rectangle obeying a kinematic bicycle model.

Public Functions

inline void printFields() const#

inline json toJson() const#

inline AgentAttributes(const json &element)#

Public Members

std::optional<double> length#: Longitudinal, lateral extent of the agent in meters.

std::optional<double> width#

std::optional<double> rear_axis_offset#: Distance from the agent’s center to its rear axis in meters. Determines motion constraints.

std::optional<std::string> agent_type#: Agent types are used to indicate how that agent might behave in a scenario. Currently “car” and “pedestrian” are supported.

std::optional<Point2d> waypoint#: Target waypoint of the agent. If provided the agent will attempt to reach it.

struct TrafficLightState#

Dynamic state of a traffic light.

Public Members

std::string id#

std::string value#

struct InfractionIndicator#

Infractions committed by a given agent, as returned from invertedai::drive().

Public Members

bool collisions#: True if the agent’s bounding box overlaps with another agent’s bounding box.

bool offroad#: True if the agent is outside the designated driveable area specified by the map.

bool wrong_way#: True if the cross product of the agent’s and its lanelet’s directions is negative.

struct StaticMapActor#

Specifies a traffic light placement. We represent traffic lights as rectangular bounding boxes of the associated stop lines, with orientation matching the direction of traffic going through it.

Public Members

int actor_id#: ID as used in invertedai::initialize() and invertedai::drive().

std::string agent_type#: Not currently used, there may be more traffic signals in the future.

double x#: The position of the stop line.

double y#

double orientation#: Natural direction of traffic going through the stop line, in radians like in AgentState.

std::optional<double> length#: Size of the stop line, in meters, along its orientation.

std::optional<double> width#

std::vector<int> dependant#

struct Point2d#

2D coordinates of a point in a given location. Each location comes with a canonical coordinate system, where the distance units are meters.

Public Functions

inline bool isCloseTo(const Point2d &other, double threshold = 1) const#

Public Members

double x#

double y#