#include <rclcpp/rclcpp.hpp>
#include <carma_planning_msgs/msg/maneuver_plan.hpp>

Include dependency graph for arbitrator_utils.hpp:

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Namespaces
namespace	arbitrator_utils

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

Functions
rclcpp::Time	arbitrator_utils::get_plan_start_time (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the start time of the first maneuver in the plan. More...

double	arbitrator_utils::get_plan_start_distance (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the start distance of the first maneuver in the plan. More...

rclcpp::Time	arbitrator_utils::get_plan_end_time (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the end time of the first maneuver in the plan. More...

double	arbitrator_utils::get_plan_end_distance (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the end distance of the first maneuver in the plan. More...

rclcpp::Time	arbitrator_utils::get_maneuver_start_time (const carma_planning_msgs::msg::Maneuver &)
	Get the start time of the specified maneuver. More...

double	arbitrator_utils::get_maneuver_start_distance (const carma_planning_msgs::msg::Maneuver &)
	Get the start distance the specified maneuver. More...

rclcpp::Time	arbitrator_utils::get_maneuver_end_time (const carma_planning_msgs::msg::Maneuver &)
	Get the end time of the specified maneuver. More...

double	arbitrator_utils::get_maneuver_end_distance (const carma_planning_msgs::msg::Maneuver &)
	Get the end distance of the specified maneuver. More...

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"))))))))

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

TODO: Implement a better system for handling Maneuver objects such that this macro isn't needed.

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 33 of file arbitrator_utils.hpp.

Namespaces

Macros

Functions

Macro Definition Documentation

◆ GET_MANEUVER_PROPERTY