route Namespace Reference

Classes
struct	Config
	Struct containing the algorithm configuration values for the route node. More...
class	Route
	The route package provides the following functionality: More...
class	RouteGeneratorWorker
class	RouteStateWorker

Enumerations
enum	RouteEvent {   ROUTE_LOADED = 0 , ROUTE_SELECTED = 1 , ROUTE_STARTED = 2 , ROUTE_COMPLETED = 3 ,   ROUTE_DEPARTED = 4 , ROUTE_ABORTED = 5 , ROUTE_GEN_FAILED = 6 , ROUTE_INVALIDATION = 7 }
enum	RouteState { LOADING = 0 , SELECTION = 1 , ROUTING = 2 , FOLLOWING = 3 }

Functions
std::ostream &	operator<< (std::ostream &output, const RouteEvent &e)
std::ostream &	operator<< (std::ostream &output, const RouteState &s)

Enumeration Type Documentation

RouteEvent

enum route::RouteEvent

Possible events for the RouteStateWorker to respond to: ROUTE_LOADED - Route worker received all necessary parameters and loaded route file path ROUTE_SELECTED - A route file has been selected by user ROUTE_STARTED - A route is generated by provided route file ROUTE_COMPLETED - Reached the destination of current route ROUTE_DEPARTED - Vehicle has deviated from the route ROUTE_ABORTED - User decides to stop following the current route ROUTE_GEN_FAILED - No route can be generated based on provided route file ROUTE_INVALIDATION - Certain portion of the route is invalidated based on situation.

Enumerator
ROUTE_LOADED
ROUTE_SELECTED
ROUTE_STARTED
ROUTE_COMPLETED
ROUTE_DEPARTED
ROUTE_ABORTED
ROUTE_GEN_FAILED
ROUTE_INVALIDATION

Definition at line 35 of file route_state_worker.hpp.

                    {
        ROUTE_LOADED = 0,
        ROUTE_SELECTED = 1,
        ROUTE_STARTED = 2,
        ROUTE_COMPLETED = 3,
        ROUTE_DEPARTED = 4,
        ROUTE_ABORTED = 5,
        ROUTE_GEN_FAILED = 6,
        ROUTE_INVALIDATION = 7,
    };

RouteState

enum route::RouteState

Possible states of the RouteStateWorker: LOADING - RouteState worker's initial state, waiting for all necessary parameters to be set SELECTION - RouteState worker is waiting on user to select a route ROUTING - Calling lanelet2 library to generate a route based on selected route file FOLLOWING - Following a route and tracking its downtrack and crosstrack distance

Enumerator
LOADING
SELECTION
ROUTING
FOLLOWING

Definition at line 87 of file route_state_worker.hpp.

                    {
        LOADING = 0,
        SELECTION = 1,
        ROUTING = 2,
        FOLLOWING = 3,
    };

Function Documentation

operator<<() [1/2]

std::ostream & route::operator<< ( std::ostream &  output, const RouteEvent &  e  )

inline

Definition at line 47 of file route_state_worker.hpp.

    {
        switch(e) {
        case ROUTE_LOADED:
            output << "ROUTE_LOADED";
            break;
        case ROUTE_SELECTED:
            output << "ROUTE_SELECTED";
            break;
        case ROUTE_STARTED:
            output << "ROUTE_STARTED";
            break;
        case ROUTE_COMPLETED:
            output << "ROUTE_COMPLETED";
            break;
        case ROUTE_DEPARTED:
            output << "ROUTE_DEPARTED";
            break;
        case ROUTE_ABORTED:
            output << "ROUTE_ABORTED";
            break;
        case ROUTE_GEN_FAILED:
            output << "ROUTE_GEN_FAILED";
            break;
        case ROUTE_INVALIDATION:
            output << "ROUTE_INVALIDATION";
            break;
        default:
            output << "UNKNOWN_ROUTE_EVENT(" << static_cast<int>(e) << ")";
            break;
        }
        return output;
    }

References ROUTE_ABORTED, ROUTE_COMPLETED, ROUTE_DEPARTED, ROUTE_GEN_FAILED, ROUTE_INVALIDATION, ROUTE_LOADED, ROUTE_SELECTED, and ROUTE_STARTED.

operator<<() [2/2]

std::ostream & route::operator<< ( std::ostream &  output, const RouteState &  s  )

inline

Definition at line 95 of file route_state_worker.hpp.

    {
        switch(s) {
        case LOADING:
            output << "LOADING";
            break;
        case SELECTION:
            output << "SELECTION";
            break;
        case ROUTING:
            output << "ROUTING";
            break;
        case FOLLOWING:
            output << "FOLLOWING";
            break;
        default:
            output << "UNKNOWN_ROUTE_STATE(" << static_cast<int>(s) << ")";
            break;
        }
        return output;
    }

References FOLLOWING, LOADING, ROUTING, and SELECTION.