plan_delegator.hpp File Reference

#include <unordered_map>
#include <math.h>
#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest_prod.h>
#include <carma_planning_msgs/msg/maneuver_plan.hpp>
#include <carma_planning_msgs/msg/guidance_state.hpp>
#include <carma_planning_msgs/msg/upcoming_lane_change_status.hpp>
#include <carma_planning_msgs/srv/plan_trajectory.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <autoware_msgs/msg/lamp_cmd.hpp>
#include <tf2_ros/transform_listener.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <carma_wm/WMListener.hpp>
#include <carma_wm/WorldModel.hpp>
#include <carma_wm/Geometry.hpp>
#include <string>

Include dependency graph for plan_delegator.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	plan_delegator::Config
	Config struct. More...
struct	plan_delegator::LaneChangeInformation
	Convenience struct for storing information regarding a lane change maneuver. More...
class	plan_delegator::PlanDelegator

Namespaces
namespace	plan_delegator

Macros
#define	GET_MANEUVER_PROPERTY(mvr, property)
	Macro definition to enable easier access to fields shared across the maneuver typees. More...
#define	SET_MANEUVER_PROPERTY(mvr, property, value)

Macro Definition Documentation

GET_MANEUVER_PROPERTY

#define GET_MANEUVER_PROPERTY	(		mvr,
			property
	)

Value:

        (((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN ? (mvr).intersection_transit_left_turn_maneuver.property :\
            ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN ? (mvr).intersection_transit_right_turn_maneuver.property :\
                ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT ? (mvr).intersection_transit_straight_maneuver.property :\
                    ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE ? (mvr).lane_change_maneuver.property :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING ? (mvr).lane_following_maneuver.property :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT ? (mvr).stop_and_wait_maneuver.property :\
                            throw new std::invalid_argument("GET_MANEUVER_PROPERTY (property) called on maneuver with invalid type id"))))))))

Macro definition to enable easier access to fields shared across the maneuver typees.

Parameters

mvr	The maneuver object to invoke the accessors on
property	The name of the field to access on the specific maneuver types. Must be shared by all extant maneuver types

Returns

Expands to an expression (in the form of chained ternary operators) that evalutes to the desired field

Definition at line 45 of file plan_delegator.hpp.

SET_MANEUVER_PROPERTY

#define SET_MANEUVER_PROPERTY	(		mvr,
			property,
			value
	)

Value:

        (((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_LEFT_TURN ? (mvr).intersection_transit_left_turn_maneuver.property = (value) :\
            ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_RIGHT_TURN ? (mvr).intersection_transit_right_turn_maneuver.property = (value) :\
                ((mvr).type == carma_planning_msgs::msg::Maneuver::INTERSECTION_TRANSIT_STRAIGHT ? (mvr).intersection_transit_straight_maneuver.property = (value) :\
                    ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE ? (mvr).lane_change_maneuver.property = (value) :\
                        ((mvr).type == carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT ? (mvr).stop_and_wait_maneuver.property = (value) :\
                            ((mvr).type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING ? (mvr).lane_following_maneuver.property = (value) :\
                                throw std::invalid_argument("ADJUST_MANEUVER_PROPERTY (property) called on maneuver with invalid type id " + std::to_string((mvr).type)))))))))

Definition at line 55 of file plan_delegator.hpp.