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

#include <yield_config.hpp>

Collaboration diagram for YieldPluginConfig:

Public Attributes
double	acceleration_adjustment_factor = 4.0

double	on_route_vehicle_collision_horizon_in_s = 10.0

double	obstacle_zero_speed_threshold_in_ms = 0.25

double	min_obj_avoidance_plan_time_in_s = 2.0

double	yield_max_deceleration_in_ms2 = 3.0

double	minimum_safety_gap_in_meters = 2.0

double	vehicle_length = 5.0

double	vehicle_height = 3.0

double	vehicle_width = 2.5

double	max_stop_speed_in_ms = 1.0

bool	enable_cooperative_behavior = true

bool	always_accept_mobility_request = true

std::string	vehicle_id = "DEFAULT_VEHICLE_ID"

int	acceptable_passed_timesteps = 10

double	intervehicle_collision_distance_in_m = 10.0

int	consecutive_clearance_count_for_obstacles_threshold = 5

double	safety_collision_time_gap_in_s = 2.0

bool	enable_adjustable_gap = true

int	acceptable_urgency = 5

double	speed_moving_average_window_size = 3.0

double	collision_check_radius_in_m = 150.0

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

Detailed Description

Stuct containing the algorithm configuration values for the YieldPluginConfig.

Definition at line 24 of file yield_config.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 48 of file yield_config.hpp.

  {
    output << "YieldPluginConfig { " << std::endl
          << "acceleration_adjustment_factor: " << c.acceleration_adjustment_factor << std::endl
          << "on_route_vehicle_collision_horizon_in_s: " << c.on_route_vehicle_collision_horizon_in_s << std::endl
          << "obstacle_zero_speed_threshold_in_ms: " << c.obstacle_zero_speed_threshold_in_ms << std::endl
          << "yield_max_deceleration_in_ms2: " << c.yield_max_deceleration_in_ms2 << std::endl
          << "minimum_safety_gap_in_meters: " << c.minimum_safety_gap_in_meters << std::endl
          << "vehicle_length: " << c.vehicle_length << std::endl
          << "vehicle_height: " << c.vehicle_height << std::endl
          << "vehicle_width: " << c.vehicle_width << std::endl
          << "max_stop_speed_in_ms: " << c.max_stop_speed_in_ms << std::endl
          << "enable_cooperative_behavior: " << c.enable_cooperative_behavior << std::endl
          << "always_accept_mobility_request: " << c.always_accept_mobility_request << std::endl
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "acceptable_passed_timesteps: " << c.acceptable_passed_timesteps << std::endl
          << "intervehicle_collision_distance_in_m: " << c.intervehicle_collision_distance_in_m << std::endl
          << "consecutive_clearance_count_for_obstacles_threshold: " << c.consecutive_clearance_count_for_obstacles_threshold << std::endl
          << "safety_collision_time_gap_in_s: " << c.safety_collision_time_gap_in_s << std::endl
          << "enable_adjustable_gap: " << c.enable_adjustable_gap << std::endl
          << "acceptable_urgency: " << c.acceptable_urgency << std::endl
          << "speed_moving_average_window_size: " << c.speed_moving_average_window_size << std::endl
          << "collision_check_radius_in_m: " << c.collision_check_radius_in_m << std::endl
          << "}" << std::endl;
    return output;
  }