sci_strategic_plugin::anonymous_namespace{sci_strategic_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...

Function Documentation

getManeuverEndSpeed()

double sci_strategic_plugin::anonymous_namespace{sci_strategic_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.

Parameters

mvr	input maneuver

Returns

end speed

Definition at line 47 of file sci_strategic_plugin.cpp.

  {
    switch(mvr.type) 
    {
      case carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING:
          return mvr.lane_following_maneuver.end_speed;
      case carma_planning_msgs::msg::Maneuver::LANE_CHANGE:
          return mvr.lane_change_maneuver.end_speed;
      case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT:
          return mvr.intersection_transit_straight_maneuver.end_speed;
      case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN:
          return mvr.intersection_transit_left_turn_maneuver.end_speed;
      case carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN:
          return mvr.intersection_transit_right_turn_maneuver.end_speed;
      case carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT:
          return 0;
      default:
          RCLCPP_ERROR_STREAM(rclcpp::get_logger("sci_strategic_plugin"), "Requested end speed from unsupported maneuver type");
          return 0;
    }
  }

Referenced by sci_strategic_plugin::SCIStrategicPlugin::extractInitialState().

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