arbitrator::PluginNeighborGenerator< T > Class Template Reference

Implementation of the NeighborGenerator interface using plugins. More...

#include <plugin_neighbor_generator.hpp>

Inheritance diagram for arbitrator::PluginNeighborGenerator< T >:

Collaboration diagram for arbitrator::PluginNeighborGenerator< T >:

Public Member Functions
	PluginNeighborGenerator (std::shared_ptr< T > ci)
std::vector< carma_planning_msgs::msg::ManeuverPlan >	generate_neighbors (carma_planning_msgs::msg::ManeuverPlan plan, const VehicleState &initial_state) const
Public Member Functions inherited from arbitrator::NeighborGenerator
virtual std::vector< carma_planning_msgs::msg::ManeuverPlan >	generate_neighbors (carma_planning_msgs::msg::ManeuverPlan plan, const VehicleState &initial_state) const =0
	Generate the list of neighbors/children that a given node in the search graph expands to. More...
virtual	~NeighborGenerator ()
	Virtual destructor provided for memory safety. More...

Private Attributes
std::shared_ptr< T >	ci_

Detailed Description

template<class T>
class arbitrator::PluginNeighborGenerator< T >

Implementation of the NeighborGenerator interface using plugins.

Queries plugins via the CapabilitiesInterface to contribute additional maneuvers as the potential child/neighbor nodes of a plan in progress.

Template Parameters

T	The type of CapabilitiesInterface to use. Templated to enable testing

Definition at line 36 of file plugin_neighbor_generator.hpp.

Constructor & Destructor Documentation

PluginNeighborGenerator()

template<class T >

arbitrator::PluginNeighborGenerator< T >::PluginNeighborGenerator ( std::shared_ptr< T >  ci )

inline

Constructor for PluginNeighborGenerator

Parameters

ci	A capabilties interface for accessing the plugins

Definition at line 43 of file plugin_neighbor_generator.hpp.

                                                         :
                ci_(ci) {};

Member Function Documentation

generate_neighbors()

template<class T >

std::vector< carma_planning_msgs::msg::ManeuverPlan > arbitrator::PluginNeighborGenerator< T >::generate_neighbors ( carma_planning_msgs::msg::ManeuverPlan  plan, const VehicleState &  initial_state  ) const

virtual

Generates a list of neighbor states for the given plan using the plugins available to the system

Parameters

plan	The plan that is the current search state
initial_state	The initial state of the vehicle at the start of plan. This will be provided to planners for specific use when plan is empty

Returns

A list of subsequent plans building on top of the input plan

Implements arbitrator::NeighborGenerator.

Member Data Documentation

ci_

template<class T >

std::shared_ptr<T> arbitrator::PluginNeighborGenerator< T >::ci_

private

Definition at line 55 of file plugin_neighbor_generator.hpp.

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The documentation for this class was generated from the following file:

• arbitrator/include/plugin_neighbor_generator.hpp