light_controlled_intersection_tactical_plugin.hpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
#include <boost/geometry.hpp>
#include <boost/shared_ptr.hpp>
#include <lanelet2_core/geometry/Point.h>
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/geometry/LineString.h>
#include <carma_planning_msgs/msg/trajectory_plan_point.hpp>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_planning_msgs/srv/plan_trajectory.hpp>
#include <carma_planning_msgs/msg/maneuver.hpp>
#include <autoware_msgs/msg/lane.hpp>
#include <carma_debug_ros2_msgs/msg/trajectory_curvature_speeds.hpp>
#include <basic_autonomy/basic_autonomy.hpp>
#include <basic_autonomy/helper_functions.hpp>
#include "light_controlled_intersection_tactical_plugin/light_controlled_intersection_tactical_plugin_node.hpp"

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Classes
struct	light_controlled_intersection_tactical_plugin::TrajectoryParams
class	light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin
	Class containing primary business logic for the Light Controlled Intersection Tactical Plugin. More...

Namespaces
namespace	light_controlled_intersection_tactical_plugin

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

Typedefs
using	light_controlled_intersection_tactical_plugin::PointSpeedPair = basic_autonomy::waypoint_generation::PointSpeedPair
using	light_controlled_intersection_tactical_plugin::GeneralTrajConfig = basic_autonomy::waypoint_generation::GeneralTrajConfig
using	light_controlled_intersection_tactical_plugin::DetailedTrajConfig = basic_autonomy::waypoint_generation::DetailedTrajConfig
using	light_controlled_intersection_tactical_plugin::DebugPublisher = std::function< void(const carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds &)>

Enumerations
enum	light_controlled_intersection_tactical_plugin::TSCase {   light_controlled_intersection_tactical_plugin::CASE_1 = 1 , light_controlled_intersection_tactical_plugin::CASE_2 = 2 , light_controlled_intersection_tactical_plugin::CASE_3 = 3 , light_controlled_intersection_tactical_plugin::CASE_4 = 4 ,   light_controlled_intersection_tactical_plugin::CASE_5 = 5 , light_controlled_intersection_tactical_plugin::CASE_6 = 6 , light_controlled_intersection_tactical_plugin::CASE_7 = 7 , light_controlled_intersection_tactical_plugin::CASE_8 = 8 }

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_FOLLOWING ? (mvr).lane_following_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 evaluates to the desired field NOTE: Here is the definition of the int_valued, float_valued, and string_valued meta data parameters that is implicitly agreed between LCI Strategic and Tactical plugins All lane_following_maneuver.properties: string_valued_meta_data[0]: light_controlled_intersection_strategy name float_valued_meta_data[0]: Trajectory Segment 1 starting acceleration a1_; float_valued_meta_data[1]: Trajectory Segment 1 starting velocity v1_; float_valued_meta_data[2]: Trajectory Segment 1 starting downtrack x1_; float_valued_meta_data[3]: Trajectory Segment 2 starting acceleration a2_; float_valued_meta_data[4]: Trajectory Segment 2 starting velocity v2_; float_valued_meta_data[5]: Trajectory Segment 2 starting downtrack x2_; float_valued_meta_data[6]: Trajectory Segment 3 starting acceleration a3_; float_valued_meta_data[7]: Trajectory Segment 3 starting velocity v3_; float_valued_meta_data[8]: Trajectory Segment 3 starting downtrack x3_; int_valued_meta_data[0]: Trajectory Smoothing Case Number int_valued_meta_data[1]: Is Trajectory Smoothing Algorithm Successful? (0: False, 1: True)

Definition at line 62 of file light_controlled_intersection_tactical_plugin.hpp.