InLaneCruisingPluginConfig Struct Reference

Stuct containing the algorithm configuration values for the InLaneCruisingPlugin. More...

#include <inlanecruising_config.hpp>

Collaboration diagram for InLaneCruisingPluginConfig:

Public Attributes
double	trajectory_time_length = 6.0
double	curve_resample_step_size = 1.0
int	default_downsample_ratio = 36.0
int	turn_downsample_ratio = 20.0
double	minimum_speed = 2.2352
double	max_accel = 3
double	max_accel_multiplier = 0.85
double	lat_accel_multiplier = 0.50
double	lateral_accel_limit = 2.5
int	speed_moving_average_window_size = 5
int	curvature_moving_average_window_size = 9
double	back_distance = 20
bool	enable_object_avoidance = true
bool	publish_debug = false
double	buffer_ending_downtrack = 20.0
int	tactical_plugin_service_call_timeout = 100

Friends
std::ostream &	operator<< (std::ostream &output, const InLaneCruisingPluginConfig &c)

Detailed Description

Stuct containing the algorithm configuration values for the InLaneCruisingPlugin.

Definition at line 24 of file inlanecruising_config.hpp.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  output, const InLaneCruisingPluginConfig &  c  )

friend

Definition at line 45 of file inlanecruising_config.hpp.

  {
    output << "InLaneCruisingPluginConfig { " << std::endl
           << "trajectory_time_length: " << c.trajectory_time_length << std::endl
           << "curve_resample_step_size: " << c.curve_resample_step_size << std::endl
           << "default_downsample_ratio: " << c.default_downsample_ratio << std::endl
           << "turn_downsample_ratio: " << c.turn_downsample_ratio << std::endl
           << "minimum_speed: " << c.minimum_speed << std::endl
           << "max_accel: " << c.max_accel << std::endl
           << "max_accel_multiplier: " << c.max_accel_multiplier << std::endl
           << "lat_accel_multiplier: " << c.lat_accel_multiplier << std::endl
           << "lateral_accel_limit: " << c.lateral_accel_limit << std::endl
           << "speed_moving_average_window_size: " << c.speed_moving_average_window_size << std::endl
           << "curvature_moving_average_window_size: " << c.curvature_moving_average_window_size << std::endl
           << "back_distance: " << c.back_distance << std::endl
           << "enable_object_avoidance: " << c.enable_object_avoidance << std::endl
           << "publish_debug: " << c.publish_debug << std::endl
           << "buffer_ending_downtrack: " << c.buffer_ending_downtrack << std::endl
           << "tactical_plugin_service_call_timeout: " << c.tactical_plugin_service_call_timeout << std::endl
           << "}" << std::endl;
    return output;
  }

Member Data Documentation

back_distance

double InLaneCruisingPluginConfig::back_distance = 20

Definition at line 39 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

buffer_ending_downtrack

double InLaneCruisingPluginConfig::buffer_ending_downtrack = 20.0

Definition at line 42 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

curvature_moving_average_window_size

int InLaneCruisingPluginConfig::curvature_moving_average_window_size = 9

Definition at line 37 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

curve_resample_step_size

double InLaneCruisingPluginConfig::curve_resample_step_size = 1.0

Definition at line 27 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

default_downsample_ratio

int InLaneCruisingPluginConfig::default_downsample_ratio = 36.0

Definition at line 28 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

enable_object_avoidance

bool InLaneCruisingPluginConfig::enable_object_avoidance = true

Definition at line 40 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

lat_accel_multiplier

double InLaneCruisingPluginConfig::lat_accel_multiplier = 0.50

Definition at line 34 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

lateral_accel_limit

double InLaneCruisingPluginConfig::lateral_accel_limit = 2.5

Definition at line 35 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

max_accel

double InLaneCruisingPluginConfig::max_accel = 3

Definition at line 32 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

max_accel_multiplier

double InLaneCruisingPluginConfig::max_accel_multiplier = 0.85

Definition at line 33 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

minimum_speed

double InLaneCruisingPluginConfig::minimum_speed = 2.2352

Definition at line 31 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

publish_debug

bool InLaneCruisingPluginConfig::publish_debug = false

Definition at line 41 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

speed_moving_average_window_size

int InLaneCruisingPluginConfig::speed_moving_average_window_size = 5

Definition at line 36 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

tactical_plugin_service_call_timeout

int InLaneCruisingPluginConfig::tactical_plugin_service_call_timeout = 100

Definition at line 43 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

trajectory_time_length

double InLaneCruisingPluginConfig::trajectory_time_length = 6.0

Definition at line 26 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

turn_downsample_ratio

int InLaneCruisingPluginConfig::turn_downsample_ratio = 20.0

Definition at line 29 of file inlanecruising_config.hpp.

Referenced by inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode(), inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin(), inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback(), and inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback().

---

The documentation for this struct was generated from the following file:

• inlanecruising_plugin/include/inlanecruising_plugin/inlanecruising_config.hpp