platoon_strategic_ihp Namespace Reference

Classes
struct	ActionPlan
	Struct for an action plan, which describes a transient joining activity. More...
class	Node
	ROS Node to for Platooning Strategic Plugin IHP2 variant. It includes all the service clients, publishers and subscribers. More...
class	PlatoonManager
	Class containing the logic for platoon manager. It is responsible for keeping track of the platoon members and role of the host vehicle in the platoon. More...
struct	PlatoonMember
	Platoon member info. More...
struct	PlatoonPluginConfig
	Stuct containing the algorithm configuration values for the yield_pluginConfig. More...
class	PlatoonStrategicIHPPlugin
	Class containing the logic for Strategic IHP Plugin. This class is responsible for all the negotiations as well as generating a maneuver msg. More...

Typedefs
using	MobilityResponseCB = std::function< void(const carma_v2x_msgs::msg::MobilityResponse &)>
using	MobilityRequestCB = std::function< void(const carma_v2x_msgs::msg::MobilityRequest &)>
using	MobilityOperationCB = std::function< void(const carma_v2x_msgs::msg::MobilityOperation &)>
using	PlatooningInfoCB = std::function< void(const carma_planning_msgs::msg::PlatooningInfo &)>

Enumerations
enum	MobilityRequestResponse { ACK , NACK , NO_RESPONSE }
	A response to an MobilityRequest message. ACK - indicates that the plugin accepts the MobilityRequest and will handle making any adjustments needed to avoid a conflict NACK - indicates that the plugin rejects the MobilityRequest and would suggest the other vehicle replan NO_RESPONSE - indicates that the plugin is indifferent but sees no conflict. More...
enum	PlatoonState {   STANDBY , LEADERWAITING , LEADER , CANDIDATEFOLLOWER ,   FOLLOWER , LEADERABORTING , CANDIDATELEADER , LEADWITHOPERATION ,   PREPARETOJOIN }
	Platoon States. UCLA: Added additional states (i.e., LEADERABORTING and CANDIDATELEADER) for same-lane front join. (i.e., LEADWITHOPERATION and PREPARETOJOIN) for cut-in front join. More...

Typedef Documentation

MobilityOperationCB

using platoon_strategic_ihp::MobilityOperationCB = typedef std::function<void(const carma_v2x_msgs::msg::MobilityOperation&)>

Definition at line 63 of file platoon_strategic_ihp.h.

MobilityRequestCB

using platoon_strategic_ihp::MobilityRequestCB = typedef std::function<void(const carma_v2x_msgs::msg::MobilityRequest&)>

Definition at line 62 of file platoon_strategic_ihp.h.

MobilityResponseCB

using platoon_strategic_ihp::MobilityResponseCB = typedef std::function<void(const carma_v2x_msgs::msg::MobilityResponse&)>

Definition at line 61 of file platoon_strategic_ihp.h.

PlatooningInfoCB

using platoon_strategic_ihp::PlatooningInfoCB = typedef std::function<void(const carma_planning_msgs::msg::PlatooningInfo&)>

Definition at line 64 of file platoon_strategic_ihp.h.

Enumeration Type Documentation

MobilityRequestResponse

enum platoon_strategic_ihp::MobilityRequestResponse

A response to an MobilityRequest message. ACK - indicates that the plugin accepts the MobilityRequest and will handle making any adjustments needed to avoid a conflict NACK - indicates that the plugin rejects the MobilityRequest and would suggest the other vehicle replan NO_RESPONSE - indicates that the plugin is indifferent but sees no conflict.

Enumerator
ACK
NACK
NO_RESPONSE

Definition at line 64 of file platoon_manager_ihp.h.

    {
            ACK,
            NACK,
            NO_RESPONSE
    };

PlatoonState

enum platoon_strategic_ihp::PlatoonState

Platoon States. UCLA: Added additional states (i.e., LEADERABORTING and CANDIDATELEADER) for same-lane front join. (i.e., LEADWITHOPERATION and PREPARETOJOIN) for cut-in front join.

Enumerator
STANDBY
LEADERWAITING
LEADER
CANDIDATEFOLLOWER
FOLLOWER
LEADERABORTING
CANDIDATELEADER
LEADWITHOPERATION
PREPARETOJOIN

Definition at line 76 of file platoon_manager_ihp.h.

    {
        STANDBY,                    // 0;
        LEADERWAITING,              // 1;
        LEADER,                     // 2;
        CANDIDATEFOLLOWER,          // 3;
        FOLLOWER,                   // 4;
        //UCLA: FRONTAL JOIN STATE
        LEADERABORTING,             // 5;
        //UCLA: FRONTAL JOIN STATE
        CANDIDATELEADER,            // 6;
        //UCLA: CUT-IN JOIN STATE
        LEADWITHOPERATION,          // 7;
        //UCLA: CUT-IN JOIN STATE
        PREPARETOJOIN               // 8;
    };