C++ API Reference¶

SimOne C++ API is the C++ integration layer for autonomous driving algorithm development. It provides core functionality including simulation data reading, vehicle control, HD map queries, and evaluation reporting. All interfaces are defined under namespace SimOneAPI.

Typical Call Sequence¶

Standard initialization flow for integrating an autonomous driving algorithm with SimOne:

1. InitSimOneAPI()       ← Establish BridgeIO connection, register frame callback
2. HDMapAPI::LoadHDMap() ← Optional: preload HD map (wait for map ready)
3. SensorAPI / PNCAPI    ← Read sensor data / send control commands in frame callback
4. EvaluationAPI         ← Optional: report evaluation events

Note: InitSimOneAPI() must be called before all other API calls.

Module Overview¶

Foundation Layer¶

Module	Header File	Description	API Details
ServiceAPI	`SimOneServiceAPI.h`	Initialization (`InitSimOneAPI`), version query, log configuration, inter-node messaging	→ View
PNCAPI	`SimOnePNCAPI.h`	Vehicle control (`SetDrive`/`SetTrajectory`/`SetPose`), state retrieval, waypoints, driving mode switching, traffic light control	→ View
ControlTransAPI	`SimOneControlTransAPI.h`	Low-level drive control pass-through (`SetDriveEx`/`GetDriveEx`), for hardware-in-loop scenarios	→ View

Perception Layer¶

Module	Header File	Description	API Details
SensorAPI	`SimOneSensorAPI.h`	Read GPS, ground truth (obstacles), radar, ultrasonic, sensor fusion, lane lines, traffic lights, and environment data; supports polling and callback modes	→ View
StreamingAPI	`SimOneStreamingAPI.h`	Camera image streams (RGB / JPEG / H265), LiDAR point cloud streams (large frame data, independent streaming protocol)	→ View
V2XAPI	`SimOneV2XAPI.h`	V2X message reading (`GetV2XInfo`) and callback registration (`SetV2XInfoUpdateCB`), supports NFS format	→ View

Map Layer¶

Module	Header File	Description	API Details
HDMapAPI	`SimOneHDMapAPI.h`	Map loading (`LoadHDMap`), nearest lane query (`GetNearMostLane`), lane geometry (`GetLaneST`/`GetLaneSample`), route planning (`GenerateRoute`/`Navigate`), traffic light/sign/stop line queries	→ View

Scenario & Evaluation Layer¶

Module	Header File	Description	API Details
EvaluationAPI	`SimOneEvaluationAPI.h`	Evaluation service initialization (`InitEvaluationService`), record reporting (`AddEvaluationRecord`/`SaveEvaluationRecord`), judgment event callbacks (`SetJudgeEventCB`/`AddJudgeEvent`)	→ View
ScenarioTransAPI	`SimOneScenarioTransAPI.h`	Write custom condition variables to the scenario engine (`SetUserDefinedValueCondition`) and read them back (`GetUserDefinedValueCondition`), used to trigger scenario rules	→ View

Global Function Index¶

Index Type	Link
Browse by function name (`SimOneAPI` namespace)	namespace_member_functions
Browse by variable/enum	namespace_member_variables
Browse by class/struct	annotated (struct list)
Browse by file	files

Core Data Structures¶

All sensor input and vehicle state data structures are defined in SimOneIOStruct.h. Commonly used structs:

Struct	Purpose
`SimOne_Data_Gps`	Ego vehicle GPS (position, velocity, orientation)
`SimOne_Data_Obstacle`	Obstacle list (ground truth)
`SimOne_Data_Control`	Throttle / brake / steering output command
`SimOne_Data_Control_Trajectory`	Trajectory point list (for trajectory tracking mode)
`SimOne_Data_Image`	Camera image frame metadata
`SimOne_Data_TrafficLight`	Single traffic light state
`SimOne_Data_LaneInfo`	Lane perception information
`SimOne_Data_Environment`	Environment parameters (weather/lighting, etc.)

Base container types:

SSD::SimPoint2D / SSD::SimPoint3D — 2D/3D coordinate point
SSD::SimString — ABI-safe string
SSD::SimVector<T> — ABI-safe dynamic array