PlatooningTacticalPluginConfig Struct Reference

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

#include <platooning_tactical_plugin_config.h>

Collaboration diagram for PlatooningTacticalPluginConfig:

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
std::string	desired_controller_plugin = "platoon_control"

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

Detailed Description

Stuct containing the algorithm configuration values for the PlatooningTacticalPlugin.

Definition at line 24 of file platooning_tactical_plugin_config.h.

Friends And Related Function Documentation

operator<<

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

friend

Definition at line 45 of file platooning_tactical_plugin_config.h.

  {
    output << "PlatooningTacticalPluginConfig { " << 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
           << "desired_controller_plugin: " << c.desired_controller_plugin << std::endl
           << "}" << std::endl;
    return output;
  }

Member Data Documentation

back_distance

double PlatooningTacticalPluginConfig::back_distance = 20

Definition at line 39 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

buffer_ending_downtrack

double PlatooningTacticalPluginConfig::buffer_ending_downtrack = 20.0

Definition at line 42 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

curvature_moving_average_window_size

int PlatooningTacticalPluginConfig::curvature_moving_average_window_size = 9

Definition at line 37 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

curve_resample_step_size

double PlatooningTacticalPluginConfig::curve_resample_step_size = 1.0

Definition at line 27 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

default_downsample_ratio

int PlatooningTacticalPluginConfig::default_downsample_ratio = 36.0

Definition at line 28 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

desired_controller_plugin

std::string PlatooningTacticalPluginConfig::desired_controller_plugin = "platoon_control"

Definition at line 43 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

enable_object_avoidance

bool PlatooningTacticalPluginConfig::enable_object_avoidance = true

Definition at line 40 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), and platooning_tactical_plugin::Node::parameter_update_callback().

lat_accel_multiplier

double PlatooningTacticalPluginConfig::lat_accel_multiplier = 0.50

Definition at line 34 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

lateral_accel_limit

double PlatooningTacticalPluginConfig::lateral_accel_limit = 2.5

Definition at line 35 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

max_accel

double PlatooningTacticalPluginConfig::max_accel = 3

Definition at line 32 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

max_accel_multiplier

double PlatooningTacticalPluginConfig::max_accel_multiplier = 0.85

Definition at line 33 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

minimum_speed

double PlatooningTacticalPluginConfig::minimum_speed = 2.2352

Definition at line 31 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

publish_debug

bool PlatooningTacticalPluginConfig::publish_debug = false

Definition at line 41 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

speed_moving_average_window_size

int PlatooningTacticalPluginConfig::speed_moving_average_window_size = 5

Definition at line 36 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

trajectory_time_length

double PlatooningTacticalPluginConfig::trajectory_time_length = 6.0

Definition at line 26 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

turn_downsample_ratio

int PlatooningTacticalPluginConfig::turn_downsample_ratio = 20.0

Definition at line 29 of file platooning_tactical_plugin_config.h.

Referenced by platooning_tactical_plugin::Node::Node(), platooning_tactical_plugin::Node::on_configure_plugin(), platooning_tactical_plugin::Node::parameter_update_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

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

• platooning_tactical_plugin/include/platooning_tactical_plugin/platooning_tactical_plugin_config.h