sci_strategic_plugin_config.hpp

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#pragma once
/*
 * Copyright (C) 2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <string>
 
namespace sci_strategic_plugin
{
struct SCIStrategicPluginConfig
{
  double vehicle_decel_limit = 2.0;
 
  double vehicle_decel_limit_multiplier = 0.5;
 
  double vehicle_accel_limit = 2.0;
 
  double vehicle_accel_limit_multiplier = 0.5;
 
  double stop_line_buffer = 3.0;
 
  double min_maneuver_planning_period = 15.1;
 
  // Double: Approximate update time interval of carma streets
  double delta_t = 1.0;
 
  // Double: Minimum inter-vehicle gap
  double min_gap = 10.0;
 
  // Double: Length od the vehicle
  double veh_length = 4.0;
 
  // Double: Vehicle reaction time to a received schedule in seconds (approximate value, only used for communication with the schedule)
  double reaction_time = 5.0;
 
  // Double: The distance vehicle drives to be considered out of intersections
  double intersection_exit_zone_length = 15.0;
 
  std::string strategic_plugin_name = "sci_strategic_plugin";
 
  std::string lane_following_plugin_name = "stop_controlled_intersection_tactical_plugin";
 
  std::string stop_and_wait_plugin_name = "stop_and_wait_plugin";
 
  std::string intersection_transit_plugin_name = "intersection_transit_maneuvering";
 
  std::string vehicle_id = "default_id";
 
  // Stream operator for this config
  friend std::ostream &operator<<(std::ostream &output, const SCIStrategicPluginConfig &c)
  {
    output << "SCIStrategicPluginConfig { " << std::endl
          << "vehicle_decel_limit: " << c.vehicle_decel_limit << std::endl
          << "vehicle_decel_limit_multiplier: " << c.vehicle_decel_limit_multiplier << std::endl
          << "vehicle_accel_limit: " << c.vehicle_accel_limit << std::endl
          << "vehicle_accel_limit_multiplier: " << c.vehicle_accel_limit_multiplier << std::endl
          << "stop_line_buffer: " << c.stop_line_buffer << std::endl
          << "min_maneuver_planning_period: " << c.min_maneuver_planning_period << std::endl
          << "delta_t: " << c.delta_t << std::endl
          << "min_gap: " << c.min_gap << std::endl
          << "veh_length: " << c.veh_length << std::endl
          << "reaction_time: " << c.reaction_time << std::endl
          << "intersection_exit_zone_length: " << c.intersection_exit_zone_length << std::endl
          << "strategic_plugin_name: " << c.strategic_plugin_name << std::endl
          << "lane_following_plugin_name: " << c.lane_following_plugin_name << std::endl
          << "stop_and_wait_plugin_name: " << c.stop_and_wait_plugin_name << std::endl
          << "intersection_transit_plugin_name: " << c.intersection_transit_plugin_name << std::endl
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "}" << std::endl;
    return output;
  }
};
}  // namespace localizer