route_following_plugin.hpp File Reference

#include <vector>
#include <carma_planning_msgs/msg/plugin.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <carma_wm/WMListener.hpp>
#include <carma_wm/WorldModel.hpp>
#include <carma_planning_msgs/srv/plan_maneuvers.hpp>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <gtest/gtest_prod.h>
#include <tf2_ros/transform_listener.h>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <unordered_set>
#include "carma_guidance_plugins/strategic_plugin.hpp"
#include "route_following_plugin_config.hpp"

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Classes
class	route_following_plugin::RouteFollowingPlugin

Namespaces
namespace	route_following_plugin

Macros
#define	GET_MANEUVER_PROPERTY(mvr, property)
	Macro definition to enable easier access to fields shared across the maneuver types. 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 std::invalid_argument("GET_MANEUVER_PROPERTY (property) called on maneuver with invalid type id " + std::to_string((mvr).type)))))))))

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

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 42 of file route_following_plugin.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("SET_MANEUVER_PROPERTY (property) called on maneuver with invalid type id " + std::to_string((mvr).type)))))))))

Definition at line 51 of file route_following_plugin.hpp.