Namespaces
namespace	anonymous_namespace{approaching_emergency_vehicle_plugin_node.cpp}

Classes
class	ApproachingEmergencyVehiclePlugin
	Class that implements the Approaching Emergency Vehicle Plugin (ERV) strategic plugin. This class is primarily responsible for handling ROS topic subscriptions, publications, and service callbacks for processing incoming BSMs from ERV's, generating manuever plans that account for a nearby ERV, and publishing warning message(s) to an approaching ERV when the ego vehicle is in its path. More...

class	ApproachingEmergencyVehicleTransitionTable
	Class defining the state transition table behavior for the ApproachingEmergencyVehiclePlugin. More...

struct	Config
	Stuct containing the algorithm configuration values for approaching_emergency_vehicle_plugin. More...

struct	ErvInformation
	Convenience struct for storing relevant data for an Emergency Response Vehicle (ERV). More...

struct	UpcomingLaneChangeParameters
	Convenience struct for storing the parameters of an upcoming lane change to ensure that the same parameters are used in separately generated maneuver plans. More...

Enumerations
enum class	ApproachingEmergencyVehicleState { NO_APPROACHING_ERV , MOVING_OVER_FOR_APPROACHING_ERV , SLOWING_DOWN_FOR_ERV }
	Enum describing the possible states of the ApproachingEmergencyVehiclePlugin (Strategic Plugin) More...

enum class	ApproachingEmergencyVehicleEvent { ERV_UPDATE_TIMEOUT , NO_APPROACHING_ERV , APPROACHING_ERV_IN_PATH , APPROACHING_ERV_NOT_IN_PATH , ERV_PASSING_IN_PATH , ERV_PASSED }
	Enum describing the possible signals to change the current ApproachingEmergencyVehicleState. More...

Functions
std::ostream &	operator<< (std::ostream &os, ApproachingEmergencyVehicleState state)
	Stream operator for ApproachingEmergencyVehicleState enum. More...

std::ostream &	operator<< (std::ostream &os, ApproachingEmergencyVehicleEvent event)
	Stream operator for ApproachingEmergencyVehicleEvent enum. More...

Variables
constexpr double	METERS_PER_SEC_TO_MILES_PER_HOUR = 2.23694

Enumeration Type Documentation

◆ ApproachingEmergencyVehicleEvent

enum class approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleEvent

strong

Enum describing the possible signals to change the current ApproachingEmergencyVehicleState.

Enumerator
ERV_UPDATE_TIMEOUT
NO_APPROACHING_ERV
APPROACHING_ERV_IN_PATH
APPROACHING_ERV_NOT_IN_PATH
ERV_PASSING_IN_PATH
ERV_PASSED

Definition at line 41 of file approaching_emergency_vehicle_states.hpp.

{
    ERV_UPDATE_TIMEOUT, // Event representing that no BSMs have been received from the currently-tracked ERV within the duration
                        // defined by the "timeout_duration" configurable parameters.
 
    NO_APPROACHING_ERV, // Event representing that an ERV is not passing the ego vehicle within the duration defined by 
                        // the "approaching_threshold" configurable parameter.
 
    APPROACHING_ERV_IN_PATH, // Event representing that an ERV is approaching the ego vehicle and the ego vehicle is either
                             // in the same lane as the ERV or the ego vehicle is not in the rightmost lane.
    APPROACHING_ERV_NOT_IN_PATH, // Event representing that an ERV is approaching the ego vehicle and the ego vehicle is either in the
                                 // rightmost lane, or is in a lane adjacent to the rightmost lane if the ERV is in the rightmost lane.
 
    ERV_PASSING_IN_PATH, // Event representing that the ERV is actively passing the ego vehicle, and the ego vehicle is either
                         // in the same lane as the ERV or the ego vehicle is not in the rightmost lane.
 
    ERV_PASSED  // Event representing that the ERV has fully passed the ego vehicle.
};

◆ ApproachingEmergencyVehicleState

enum class approaching_emergency_vehicle_plugin::ApproachingEmergencyVehicleState

strong

Enum describing the possible states of the ApproachingEmergencyVehiclePlugin (Strategic Plugin)

Enumerator
NO_APPROACHING_ERV
MOVING_OVER_FOR_APPROACHING_ERV
SLOWING_DOWN_FOR_ERV

Definition at line 24 of file approaching_emergency_vehicle_states.hpp.

{
    NO_APPROACHING_ERV, // State representing that an ERV is not passing the ego vehicle within the duration defined by 
                        // the "approaching_threshold" configurable parameter.
    MOVING_OVER_FOR_APPROACHING_ERV, // State representing that the ego vehicle must change lanes in response to an approaching ERV.
 
    SLOWING_DOWN_FOR_ERV  // State representing that the ERV is actively passing the ego vehicle, so the ego vehicle should remain in its 
                          // current lane and slow down if necessary.
};

Function Documentation

◆ operator<<() [1/2]

std::ostream & approaching_emergency_vehicle_plugin::operator<<	(	std::ostream &	os,
		ApproachingEmergencyVehicleEvent	event
	)

Stream operator for ApproachingEmergencyVehicleEvent enum.

Definition at line 34 of file approaching_emergency_vehicle_states.cpp.

{
  os << "ApproachingEmergencyVehicleEvent::";
  switch (event)
  {  // clang-format off
    case ApproachingEmergencyVehicleEvent::ERV_UPDATE_TIMEOUT   : os << "ERV_UPDATE_TIMEOUT"; break;
    case ApproachingEmergencyVehicleEvent::NO_APPROACHING_ERV: os << "NO_APPROACHING_ERV"; break;
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_IN_PATH : os << "APPROACHING_ERV_IN_PATH"; break;
    case ApproachingEmergencyVehicleEvent::APPROACHING_ERV_NOT_IN_PATH  : os << "APPROACHING_ERV_NOT_IN_PATH"; break;
    case ApproachingEmergencyVehicleEvent::ERV_PASSING_IN_PATH  : os << "ERV_PASSING_IN_PATH"; break;
    case ApproachingEmergencyVehicleEvent::ERV_PASSED  : os << "ERV_PASSED"; break;
 
    default: os.setstate(std::ios_base::failbit);
  }  // clang-format on
  return os;
}

References APPROACHING_ERV_IN_PATH, APPROACHING_ERV_NOT_IN_PATH, ERV_PASSED, ERV_PASSING_IN_PATH, ERV_UPDATE_TIMEOUT, and NO_APPROACHING_ERV.

◆ operator<<() [2/2]

std::ostream & approaching_emergency_vehicle_plugin::operator<<	(	std::ostream &	os,
		ApproachingEmergencyVehicleState	state
	)

Stream operator for ApproachingEmergencyVehicleState enum.

Definition at line 21 of file approaching_emergency_vehicle_states.cpp.

{
  os << "ApproachingEmergencyVehicleState::";
  switch (state)
  {  // clang-format off
    case ApproachingEmergencyVehicleState::NO_APPROACHING_ERV   : os << "NO_APPROACHING_ERV"; break;
    case ApproachingEmergencyVehicleState::MOVING_OVER_FOR_APPROACHING_ERV: os << "MOVING_OVER_FOR_APPROACHING_ERV"; break;
    case ApproachingEmergencyVehicleState::SLOWING_DOWN_FOR_ERV  : os << "SLOWING_DOWN_FOR_ERV"; break;
    default: os.setstate(std::ios_base::failbit);
  }  // clang-format on
  return os;
}