route_following_plugin::anonymous_namespace{route_following_plugin.cpp} Namespace Reference
Functions | |
| double | getManeuverEndSpeed (const carma_planning_msgs::msg::Maneuver &mvr) |
| Anonymous function to extract maneuver end speed which can not be optained with GET_MANEUVER_PROPERY calls due to it missing in stop and wait plugin. More... | |
| void | setManeuverLaneletIds (carma_planning_msgs::msg::Maneuver &mvr, lanelet::Id start_id, lanelet::Id end_id) |
| Anonymous function to set the lanelet ids for all maneuver types except lane following. More... | |
Function Documentation
◆ getManeuverEndSpeed()
| double route_following_plugin::anonymous_namespace{route_following_plugin.cpp}::getManeuverEndSpeed | ( | const carma_planning_msgs::msg::Maneuver & | mvr | ) |
Anonymous function to extract maneuver end speed which can not be optained with GET_MANEUVER_PROPERY calls due to it missing in stop and wait plugin.
Definition at line 36 of file route_following_plugin.cpp.
36 {
37 switch(mvr.type) {
38 case carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING:
39 return mvr.lane_following_maneuver.end_speed;
40 case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
41 return mvr.lane_change_maneuver.end_speed;
42 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
43 return mvr.intersection_transit_straight_maneuver.end_speed;
44 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
45 return mvr.intersection_transit_left_turn_maneuver.end_speed;
46 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
47 return mvr.intersection_transit_right_turn_maneuver.end_speed;
48 case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
49 return 0;
50 default:
51 return 0;
52 }
53}
Referenced by route_following_plugin::RouteFollowingPlugin::getManeuverDuration(), route_following_plugin::RouteFollowingPlugin::maneuverWithBufferStartsAfterDowntrack(), and route_following_plugin::RouteFollowingPlugin::routeCb().
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◆ setManeuverLaneletIds()
| void route_following_plugin::anonymous_namespace{route_following_plugin.cpp}::setManeuverLaneletIds | ( | carma_planning_msgs::msg::Maneuver & | mvr, |
| lanelet::Id | start_id, | ||
| lanelet::Id | end_id | ||
| ) |
Anonymous function to set the lanelet ids for all maneuver types except lane following.
Definition at line 58 of file route_following_plugin.cpp.
58 {
59
60 switch(mvr.type) {
61 case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
62 mvr.lane_change_maneuver.starting_lane_id = std::to_string(start_id);
63 mvr.lane_change_maneuver.ending_lane_id = std::to_string(end_id);
64 break;
65 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
66 mvr.intersection_transit_straight_maneuver.starting_lane_id = std::to_string(start_id);
67 mvr.intersection_transit_straight_maneuver.ending_lane_id = std::to_string(end_id);
68 break;
69 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
70 mvr.intersection_transit_left_turn_maneuver.starting_lane_id = std::to_string(start_id);
71 mvr.intersection_transit_left_turn_maneuver.ending_lane_id = std::to_string(end_id);
72 break;
73 case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
74 mvr.intersection_transit_right_turn_maneuver.starting_lane_id = std::to_string(start_id);
75 mvr.intersection_transit_right_turn_maneuver.ending_lane_id = std::to_string(end_id);
76 break;
77 case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
78 mvr.stop_and_wait_maneuver.starting_lane_id = std::to_string(start_id);
79 mvr.stop_and_wait_maneuver.ending_lane_id = std::to_string(end_id);
80 break;
81 default:
82 throw std::invalid_argument("Maneuver type does not have start,end lane ids");
83 }
84}
auto to_string(const UtmZone &zone) -> std::string
Definition: utm_zone.cpp:21
References carma_cooperative_perception::to_string().
Referenced by route_following_plugin::RouteFollowingPlugin::addStopAndWaitAtRouteEnd().
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