Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
platooning_strategic_ihp.h File Reference
#include <gtest/gtest_prod.h>
#include <vector>
#include <math.h>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_planning_msgs/msg/trajectory_plan_point.hpp>
#include <carma_planning_msgs/msg/plugin.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
#include <boost/format.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <carma_planning_msgs/srv/plan_maneuvers.hpp>
#include <carma_v2x_msgs/msg/mobility_operation.hpp>
#include <carma_v2x_msgs/msg/mobility_request.hpp>
#include <carma_v2x_msgs/msg/mobility_response.hpp>
#include <carma_planning_msgs/msg/platooning_info.hpp>
#include <carma_v2x_msgs/msg/plan_type.hpp>
#include <carma_wm/WorldModel.hpp>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/geometry/BoundingBox.h>
#include <lanelet2_extension/traffic_rules/CarmaUSTrafficRules.h>
#include <lanelet2_extension/regulatory_elements/DigitalMinimumGap.h>
#include "platooning_config_ihp.h"
#include "platooning_manager_ihp.h"
#include <tf2_ros/transform_listener.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <lanelet2_extension/projection/local_frame_projector.h>
#include <std_msgs/msg/string.hpp>
#include <rclcpp/time.hpp>
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Classes

class  platooning_strategic_ihp::PlatooningStrategicIHPPlugin
 Class containing the logic for Strategic IHP Plugin. This class is responsible for all the negotiations as well as generating a maneuver msg. More...
 

Namespaces

namespace  platooning_strategic_ihp
 

Typedefs

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