stop_controlled_intersection_plugin.hpp File Reference

#include <vector>
#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 <carma_guidance_plugins/tactical_plugin.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/geometry.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <carma_wm/Geometry.hpp>
#include <carma_planning_msgs/srv/plan_trajectory.hpp>
#include <carma_wm/WMListener.hpp>
#include <functional>
#include "stop_controlled_intersection_config.hpp"
#include <unordered_set>
#include <autoware_msgs/msg/lane.hpp>
#include <rclcpp/rclcpp.hpp>
#include <carma_planning_msgs/msg/maneuver.hpp>
#include <basic_autonomy/basic_autonomy.hpp>
#include <basic_autonomy/helper_functions.hpp>
#include <basic_autonomy/log/log.hpp>
#include <gtest/gtest_prod.h>

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Classes
class	stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin
	Class containing primary business logic for the Stop Controlled Intersection Tactical Plugin. More...

Namespaces
namespace	stop_controlled_intersection_tactical_plugin

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

Typedefs
using	stop_controlled_intersection_tactical_plugin::PointSpeedPair = basic_autonomy::waypoint_generation::PointSpeedPair

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_FOLLOWING ? (mvr).lane_following_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 47 of file stop_controlled_intersection_plugin.hpp.