arbitrator_utils Namespace Reference

Functions
rclcpp::Time	get_plan_start_time (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the start time of the first maneuver in the plan. More...
double	get_plan_start_distance (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the start distance of the first maneuver in the plan. More...
rclcpp::Time	get_plan_end_time (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the end time of the first maneuver in the plan. More...
double	get_plan_end_distance (const carma_planning_msgs::msg::ManeuverPlan &)
	Get the end distance of the first maneuver in the plan. More...
rclcpp::Time	get_maneuver_start_time (const carma_planning_msgs::msg::Maneuver &)
	Get the start time of the specified maneuver. More...
double	get_maneuver_start_distance (const carma_planning_msgs::msg::Maneuver &)
	Get the start distance the specified maneuver. More...
rclcpp::Time	get_maneuver_end_time (const carma_planning_msgs::msg::Maneuver &)
	Get the end time of the specified maneuver. More...
double	get_maneuver_end_distance (const carma_planning_msgs::msg::Maneuver &)
	Get the end distance of the specified maneuver. More...

Function Documentation

get_maneuver_end_distance()

double arbitrator_utils::get_maneuver_end_distance

(

const carma_planning_msgs::msg::Maneuver &

mvr

)

Get the end distance of the specified maneuver.

Parameters

mvr	The maneuver to examine

Returns

The double-valued linear downtrack distance in meters to the end of the maneuver

Exceptions

An	invalid argument exception if the maneuver is poorly constructed

Definition at line 79 of file arbitrator_utils.cpp.

    {
        return GET_MANEUVER_PROPERTY(mvr, end_dist);
    }

References GET_MANEUVER_PROPERTY.

Referenced by arbitrator::FixedPriorityCostFunction::compute_total_cost(), and get_plan_end_distance().

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get_maneuver_end_time()

rclcpp::Time arbitrator_utils::get_maneuver_end_time

(

const carma_planning_msgs::msg::Maneuver &

mvr

)

Get the end time of the specified maneuver.

Parameters

mvr	The maneuver to examine

Returns

The rclcpp::Time at which it ends

Exceptions

An	invalid argument exception if the maneuver is poorly constructed

Definition at line 69 of file arbitrator_utils.cpp.

    {
        return GET_MANEUVER_PROPERTY(mvr, end_time);
    }

References GET_MANEUVER_PROPERTY.

Referenced by get_plan_end_time().

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get_maneuver_start_distance()

double arbitrator_utils::get_maneuver_start_distance

(

const carma_planning_msgs::msg::Maneuver &

mvr

)

Get the start distance the specified maneuver.

Parameters

mvr	The maneuver to examine

Returns

The double-valued linear downtrack distance in meters to the start of the maneuver

Exceptions

An	invalid argument exception if the maneuver is poorly constructed

Definition at line 84 of file arbitrator_utils.cpp.

    {
        return GET_MANEUVER_PROPERTY(mvr, start_dist);
    }

References GET_MANEUVER_PROPERTY.

Referenced by arbitrator::FixedPriorityCostFunction::compute_total_cost(), and get_plan_start_distance().

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get_maneuver_start_time()

rclcpp::Time arbitrator_utils::get_maneuver_start_time

(

const carma_planning_msgs::msg::Maneuver &

mvr

)

Get the start time of the specified maneuver.

Parameters

mvr	The maneuver to examine

Returns

The rclcpp::Time at which it starts

Exceptions

An	invalid argument exception if the maneuver is poorly constructed

Definition at line 74 of file arbitrator_utils.cpp.

    {
        return GET_MANEUVER_PROPERTY(mvr, start_time);
    }

References GET_MANEUVER_PROPERTY.

Referenced by get_plan_start_time().

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get_plan_end_distance()

double arbitrator_utils::get_plan_end_distance

(

const carma_planning_msgs::msg::ManeuverPlan &

plan

)

Get the end distance of the first maneuver in the plan.

Parameters

plan	The plan to examine

Returns

The double-valued linear downtrack distance in meters to the end of the plan

Exceptions

An	invalid argument exception if the plan is empty

Definition at line 36 of file arbitrator_utils.cpp.

    {
        if (plan.maneuvers.empty())
        {
            throw std::invalid_argument("arbitrator::get_plan_end_dist called on empty maneuver plan");
        }
 
        carma_planning_msgs::msg::Maneuver m = plan.maneuvers.back();
        return get_maneuver_end_distance(m);
    }

References get_maneuver_end_distance().

Referenced by arbitrator::CostSystemCostFunction::compute_cost_per_unit_distance(), and arbitrator::FixedPriorityCostFunction::compute_cost_per_unit_distance().

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get_plan_end_time()

rclcpp::Time arbitrator_utils::get_plan_end_time

(

const carma_planning_msgs::msg::ManeuverPlan &

plan

)

Get the end time of the first maneuver in the plan.

Parameters

plan	The plan to examine

Returns

The rclcpp::Time at which it ends

Exceptions

An	invalid argument exception if the plan is empty

Definition at line 24 of file arbitrator_utils.cpp.

    {
        if (plan.maneuvers.empty())
        {
            throw std::invalid_argument("arbitrator::get_plan_end_time called on empty maneuver plan");
        }
 
        carma_planning_msgs::msg::Maneuver m = plan.maneuvers.back();
 
        return get_maneuver_end_time(m);
    }

References get_maneuver_end_time().

Referenced by arbitrator::TreePlanner::generate_plan(), and arbitrator::Arbitrator::planning_state().

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get_plan_start_distance()

double arbitrator_utils::get_plan_start_distance

(

const carma_planning_msgs::msg::ManeuverPlan &

plan

)

Get the start distance of the first maneuver in the plan.

Parameters

plan	The plan to examine

Returns

The double-valued linear downtrack distance in meters to the start of the plan

Exceptions

An	invalid argument exception if the plan is empty

Definition at line 58 of file arbitrator_utils.cpp.

    {
        if (plan.maneuvers.empty())
        {
            throw std::invalid_argument("arbitrator::get_plan_start_dist called on empty maneuver plan");
        }
 
        carma_planning_msgs::msg::Maneuver m = plan.maneuvers.front();
        return get_maneuver_start_distance(m);
    }

References get_maneuver_start_distance().

Referenced by arbitrator::CostSystemCostFunction::compute_cost_per_unit_distance(), and arbitrator::FixedPriorityCostFunction::compute_cost_per_unit_distance().

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get_plan_start_time()

rclcpp::Time arbitrator_utils::get_plan_start_time

(

const carma_planning_msgs::msg::ManeuverPlan &

plan

)

Get the start time of the first maneuver in the plan.

Parameters

plan	The plan to examine

Returns

The rclcpp::Time at which it starts

Exceptions

An	invalid argument exception if the plan is empty

Definition at line 47 of file arbitrator_utils.cpp.

    {
        if (plan.maneuvers.empty())
        {
            throw std::invalid_argument("arbitrator::get_plan_start_time called on empty maneuver plan");
        }
 
        carma_planning_msgs::msg::Maneuver m = plan.maneuvers.front();
        return get_maneuver_start_time(m);
    }

References get_maneuver_start_time().

Referenced by arbitrator::TreePlanner::generate_plan(), and arbitrator::Arbitrator::planning_state().

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