Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
light_controlled_intersection_tactical_plugin_config.hpp
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1#pragma once
2
3/*
4 * Copyright (C) 2022 LEIDOS.
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
7 * use this file except in compliance with the License. You may obtain a copy of
8 * the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
14 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
15 * License for the specific language governing permissions and limitations under
16 * the License.
17 */
18
19#include <iostream>
20#include <vector>
21
23{
24
28 struct Config
29 {
37 double back_distance = 20.0;
42 double stop_line_buffer = 0.50;
43 double minimum_speed = 4.4704;
46 double lateral_accel_limit = 2.5;
47 double vehicle_accel_limit = 2.0;
48 double vehicle_decel_limit = 2.0;
51
52 // Stream operator for this config
53 friend std::ostream &operator<<(std::ostream &output, const Config &c)
54 {
55 output << "light_controlled_intersection_tactical_plugin::Config { " << std::endl
56 << "centerline_sampling_spacing: " << c.centerline_sampling_spacing << std::endl
57 << "trajectory_time_length: " << c.trajectory_time_length << std::endl
58 << "default_downsample_ratio: " << c.default_downsample_ratio << std::endl
59 << "turn_downsample_ratio: " << c.turn_downsample_ratio << std::endl
60 << "curve_resample_step_size: " << c.curve_resample_step_size << std::endl
61 << "curvature_moving_average_window_size: " << c.curvature_moving_average_window_size << std::endl
62 << "speed_moving_average_window_size: " << c.speed_moving_average_window_size << std::endl
63 << "back_distance: " << c.back_distance << std::endl
64 << "buffer_ending_downtrack: " << c.buffer_ending_downtrack << std::endl
65 << "vehicle_decel_limit_multiplier: " << c.vehicle_decel_limit_multiplier << std::endl
66 << "vehicle_accel_limit_multiplier: " << c.vehicle_accel_limit_multiplier << std::endl
67 << "lat_accel_multiplier: " << c.lat_accel_multiplier << std::endl
68 << "stop_line_buffer: " << c.stop_line_buffer << std::endl
69 << "minimum_speed: " << c.minimum_speed << std::endl
70 << "algorithm_evaluation_distance: " << c.algorithm_evaluation_distance << std::endl
71 << "algorithm_evaluation_period: " << c.algorithm_evaluation_period << std::endl
72 << "lateral_accel_limit: " << c.lateral_accel_limit << std::endl
73 << "vehicle_accel_limit: " << c.vehicle_accel_limit << std::endl
74 << "vehicle_decel_limit: " << c.vehicle_decel_limit << std::endl
75 << "tactical_plugin_service_call_timeout: " << c.tactical_plugin_service_call_timeout << std::endl
76 << "enable_object_avoidance: " << c.enable_object_avoidance << std::endl
77 << "}" << std::endl;
78 return output;
79 }
80 };
81
82} // light_controlled_intersection_tactical_plugin
Stuct containing the algorithm configuration values for light_controlled_intersection_tactical_plugin...
friend std::ostream & operator<<(std::ostream &output, const Config &c)