lci_strategic_plugin_config.hpp

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#pragma once
/*
 * Copyright (C) 2023 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <string>
 
namespace lci_strategic_plugin
{
struct LCIStrategicPluginConfig
{
  double vehicle_decel_limit = 2.0;
 
  double vehicle_decel_limit_multiplier = 0.75;
 
  double vehicle_accel_limit = 2.0;
 
  double vehicle_accel_limit_multiplier = 0.75;
 
  double min_approach_distance = 30.0;
 
  double trajectory_smoothing_activation_distance = 200.0;
 
  double stopping_location_buffer = 3.0;
 
  double green_light_time_buffer = 0.0;
 
  double algo_minimum_speed = 2.2352;
 
  double deceleration_fraction = 0.8;
 
  double desired_distance_to_stop_buffer = 10.0;
 
  double min_maneuver_planning_period = 15.1;
 
  double reaction_time = 2.0;
 
  double min_gap = 10.0;
 
  bool  enable_carma_streets_connection = false;
 
  double mobility_rate = 10.0;
 
  std::string vehicle_id = "default_id";
 
  std::string strategic_plugin_name = "lci_strategic_plugin";
 
  std::string lane_following_plugin_name = "light_controlled_intersection_tactical_plugin";
 
  std::string stop_and_wait_plugin_name = "stop_and_wait_plugin";
 
  std::string intersection_transit_plugin_name = "intersection_transit_maneuvering";
 
  // Stream operator for this config
  friend std::ostream &operator<<(std::ostream &output, const LCIStrategicPluginConfig &c)
  {
    output << "LCIStrategicPluginConfig { " << std::endl
          << "vehicle_decel_limit: " << c.vehicle_decel_limit << std::endl
          << "vehicle_decel_limit_multiplier: " << c.vehicle_decel_limit_multiplier << std::endl
          << "vehicle_accel_limit: " << c.vehicle_accel_limit << std::endl
          << "vehicle_accel_limit_multiplier: " << c.vehicle_accel_limit_multiplier << std::endl
          << "min_approach_distance: " << c.min_approach_distance << std::endl
          << "trajectory_smoothing_activation_distance: " << c.trajectory_smoothing_activation_distance << std::endl
          << "stopping_location_buffer: " << c.stopping_location_buffer << std::endl
          << "green_light_time_buffer: " << c.green_light_time_buffer << std::endl
          << "algo_minimum_speed: " << c.algo_minimum_speed << std::endl
          << "deceleration_fraction: " << c.deceleration_fraction << std::endl
          << "desired_distance_to_stop_buffer: " << c.desired_distance_to_stop_buffer << std::endl
          << "min_maneuver_planning_period: " << c.min_maneuver_planning_period << std::endl
          << "reaction_time: " << c.reaction_time << std::endl
          << "min_gap: " << c.min_gap << std::endl
          << "enable_carma_streets_connection: " << c.enable_carma_streets_connection << std::endl
          << "mobility_rate: " << c.mobility_rate << std::endl
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "strategic_plugin_name: " << c.strategic_plugin_name << std::endl
          << "lane_following_plugin_name: " << c.lane_following_plugin_name << std::endl
          << "stop_and_wait_plugin_name: " << c.stop_and_wait_plugin_name << std::endl
          << "intersection_transit_plugin_name: " << c.intersection_transit_plugin_name << std::endl
          << "}" << std::endl;
    return output;
  }
};
}  // namespace localizer