API Call Reference Examples

Note

The sample code in [SimOne Installation Directory]\SimOne\SimOneAPI is categorized by directory and demonstrates the application of various SimOne simulation product APIs in customer-side algorithm programs. For compilation reference, see Algorithm Integration.

For example: call the sensor API to obtain object-level or physical-level sensor data, then pass it to the customer's algorithm program to test autonomous driving algorithms. Customers can also use sensor data as raw data for sensor fusion.

The directory structure is as follows

Examples	Folder	Description	Subfolder	Description
Algorithm Examples	ADAS	Examples of ADAS basic algorithm integration with the SimOne simulation platform interface.	ACC	Adaptive Cruise Control algorithm example.
			AEB	Automatic Emergency Braking algorithm example.
			AEB-Daemon	AEB algorithm example for continuous case execution in cloud simulation environments.
			AEB-Evaluation	Using the AEB algorithm as an example, demonstrates how to output the signal data required for evaluation within the user algorithm.
			AVP	Automatic Parking algorithm example.
			bin	Output directory for ADAS algorithm application binaries.
			Build	Directory for files generated during the build and compilation of the project.
			LKA	Automatic Lane Keeping algorithm example.
			TestEvaluation	Used to test and demonstrate how to use the EvaluationAPI to obtain data required for evaluation.
			TrajectoryControl	A system or algorithm for controlling vehicle trajectory.
			util	Directory containing a series of helper tools and utilities.
	Autopilot	Comprehensive autonomous driving algorithm	CurveSample	Global Path Planning and local path adjustment example
			LimitChangeLaneSample	Example of obstacle ahead scenario
			TrafficLightSample	Example of obtaining the phase status of traffic lights in the scene
Libraries	include	Contains SimOne built-in libraries and third-party dependency library files, mainly including some .h and .hpp files.
	lib	Contains the Dynamic Library (.so/.dll) required to run SimOne and Algorithm Examples for PythonAPI.
Third-Party Middleware Adaptation	Cyber	Example of Apollo (r6.0.0) integration with the SimOne simulation platform interface based on the Cyber middleware.
	Matlab	SimOneAPI encapsulation in Simulink, including module interfaces and examples.
	ROS	Example of integration with the SimOne simulation platform interface based on the ROS1 middleware.
	ROS2	Example of integration with the SimOne simulation platform interface based on the ROS2 middleware.
	SensorRaw	Physical-Level Data Visualization interface example.	3rdparty	Third-party plugins: opencv, pcl
			SensorCamera	Physical-level camera data transmission example
			SensorLidar	Physical-Level LiDAR data transmission example
			SensorLidarROS	Physical-Level LiDAR data transmission to ROS example
			SensorRadar4D	4D millimeter-wave radar data transmission example
Feature Module Examples	Tutorial	Examples of basic SimOneAPI C++ interface call methods.	Dynamics	Dynamics usage example
			HDMap	HDMapAPI usage example
			PNC	PNCAPI usage example
			Sensor	Sensor usage example
			Traffic	Traffic flow API usage example
			V2X	V2X usage example

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