approaching_emergency_vehicle_plugin_node.hpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>
#include <carma_planning_msgs/msg/plugin.hpp>
#include <carma_planning_msgs/msg/upcoming_lane_change_status.hpp>
#include <carma_planning_msgs/msg/route_state.hpp>
#include <carma_planning_msgs/msg/guidance_state.hpp>
#include <carma_v2x_msgs/msg/bsm.hpp>
#include <carma_v2x_msgs/msg/emergency_vehicle_response.hpp>
#include <carma_v2x_msgs/msg/emergency_vehicle_ack.hpp>
#include <carma_msgs/msg/ui_instructions.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <carma_wm/WMListener.hpp>
#include <carma_wm/WorldModel.hpp>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_extension/projection/local_frame_projector.h>
#include <lanelet2_extension/io/autoware_osm_parser.h>
#include <carma_wm/CARMAWorldModel.hpp>
#include <boost/format.hpp>
#include <std_msgs/msg/bool.hpp>
#include <unordered_map>
#include <carma_guidance_plugins/strategic_plugin.hpp>
#include "approaching_emergency_vehicle_plugin/approaching_emergency_vehicle_plugin_config.hpp"
#include "approaching_emergency_vehicle_plugin/approaching_emergency_vehicle_transition_table.hpp"
#include "approaching_emergency_vehicle_plugin/approaching_emergency_vehicle_states.hpp"

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Classes
struct	approaching_emergency_vehicle_plugin::ErvInformation
	Convenience struct for storing relevant data for an Emergency Response Vehicle (ERV). More...
struct	approaching_emergency_vehicle_plugin::UpcomingLaneChangeParameters
	Convenience struct for storing the parameters of an upcoming lane change to ensure that the same parameters are used in separately generated maneuver plans. More...
class	approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin
	Class that implements the Approaching Emergency Vehicle Plugin (ERV) strategic plugin. This class is primarily responsible for handling ROS topic subscriptions, publications, and service callbacks for processing incoming BSMs from ERV's, generating manuever plans that account for a nearby ERV, and publishing warning message(s) to an approaching ERV when the ego vehicle is in its path. More...

Namespaces
namespace	approaching_emergency_vehicle_plugin

Macros
#define	GET_MANEUVER_PROPERTY(mvr, property)
	Macro definition to enable easier access to fields shared across the maneuver types. More...

Variables
constexpr double	approaching_emergency_vehicle_plugin::METERS_PER_SEC_TO_MILES_PER_HOUR = 2.23694

Macro Definition Documentation

GET_MANEUVER_PROPERTY

#define GET_MANEUVER_PROPERTY	(		mvr,
			property
	)

Value:

        (((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN ? (mvr).intersection_transit_left_turn_maneuver.property :\
            ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN ? (mvr).intersection_transit_right_turn_maneuver.property :\
                ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT ? (mvr).intersection_transit_straight_maneuver.property :\
                    ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE ? (mvr).lane_change_maneuver.property :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING ? (mvr).lane_following_maneuver.property :\
                            ((mvr).type == carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT ? (mvr).stop_and_wait_maneuver.property :\
                                throw std::invalid_argument("GET_MANEUVER_PROPERTY (property) called on maneuver with invalid type id " + std::to_string((mvr).type)))))))))

Macro definition to enable easier access to fields shared across the maneuver types.

Parameters

mvr	The maneuver object to invoke the accessors on
property	The name of the field to access on the specific maneuver types. Must be shared by all extant maneuver types

Returns

Expands to an expression (in the form of chained ternary operators) that evalutes to the desired field

Definition at line 54 of file approaching_emergency_vehicle_plugin_node.hpp.