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.
stop_and_wait_config.hpp
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1#pragma once
2
3/*
4 * Copyright (C) 2021-2022 LEIDOS.
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
7 * use this file except in compliance with the License. You may obtain a copy of
8 * the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
14 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
15 * License for the specific language governing permissions and limitations under
16 * the License.
17 */
18
19#include <iostream>
20
25{
26 double minimal_trajectory_duration = 6.0; // Trajectory length in seconds
27 double stop_timestep = 0.1; // Size of timesteps between stopped trajectory points
28 double trajectory_step_size = 1.0; // Downtrack distance between trajectory points
29 double accel_limit_multiplier = 0.5; // Multiplier to compine with actual accel limit for target planning
30 double accel_limit = 2.0; // Longitudinal acceleration limit of the vehicle
31 double crawl_speed = 1.34112; // Minimum speed the vehicle can command before being ready to stop
32 double centerline_sampling_spacing = 1.0; // The gap in meters between points sampled from the lanelet centerlines for planning trajectory positions
33 double default_stopping_buffer = 3.0; // The default buffer in meters used for where the vehicle can come to a stop during execution. This value is overriden by the first value in maneuver.parameters.float_valued_meta_data[]
34 double moving_average_window_size = 11.0; // Moving Average filter window size
35 int tactical_plugin_service_call_timeout = 100; // Tactical plugin service call request timeout in milliseconds
36 bool enable_object_avoidance = false; // True to enable object avoidance using yield_plugin
37
38 friend std::ostream& operator<<(std::ostream& output, const StopandWaitConfig& c)
39 {
40 output << "StopandWaitConfig { " << std::endl
41 << "minimal_trajectory_duration: " << c.minimal_trajectory_duration << std::endl
42 << "stop_timestep: " << c.stop_timestep << std::endl
43 << "trajectory_step_size: " << c.trajectory_step_size << std::endl
44 << "accel_limit_multiplier: " << c.accel_limit_multiplier << std::endl
45 << "accel_limit: " << c.accel_limit << std::endl
46 << "crawl_speed: " << c.crawl_speed << std::endl
47 << "centerline_sampling_spacing: " << c.crawl_speed << std::endl
48 << "default_stopping_buffer: " << c.crawl_speed << std::endl
49 << "tactical_plugin_service_call_timeout: " << c.tactical_plugin_service_call_timeout << std::endl
50 << "enable_object_avoidance: " << c.enable_object_avoidance << std::endl
51 << "}" << std::endl;
52 return output;
53 }
54};
Stuct containing the algorithm configuration values for the stop_and_wait_plugin.
friend std::ostream & operator<<(std::ostream &output, const StopandWaitConfig &c)