approaching_emergency_vehicle_plugin::Config Struct Reference

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

#include <approaching_emergency_vehicle_plugin_config.hpp>

Collaboration diagram for approaching_emergency_vehicle_plugin::Config:

Public Attributes
double	passing_threshold = 15.0
double	approaching_threshold = 60.0
double	finished_passing_threshold = 152.4
double	min_lane_following_duration_before_lane_change = 3.0
double	bsm_processing_frequency = 1.0
double	speed_limit_reduction_during_passing = 4.4704
double	minimum_reduced_speed_limit = 2.2352
double	default_speed_limit = 2.2352
double	reduced_speed_buffer = 1.1176
double	timeout_check_frequency = 2.0
double	timeout_duration = 5.0
double	minimal_plan_duration = 15.0
double	buffer_distance_before_stopping = 45.0
double	stopping_accel_limit_multiplier = 0.5
double	vehicle_acceleration_limit = 2.0
double	route_end_point_buffer = 10.0
double	approaching_erv_status_publication_frequency = 1.0
double	warning_broadcast_frequency = 1.0
int	max_warning_broadcasts = 5
double	vehicle_length = 4.0
std::string	lane_following_plugin = "inlanecruising_plugin"
std::string	lane_change_plugin = "cooperative_lanechange"
std::string	stop_and_wait_plugin = "stop_and_wait_plugin"
std::string	vehicle_id = "DEFAULT_VEHICLE_ID"

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

Detailed Description

Stuct containing the algorithm configuration values for approaching_emergency_vehicle_plugin.

Definition at line 28 of file approaching_emergency_vehicle_plugin_config.hpp.

Friends And Related Function Documentation

operator<<

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

friend

Definition at line 92 of file approaching_emergency_vehicle_plugin_config.hpp.

    {
      output << "approaching_emergency_vehicle_plugin::Config { " << std::endl
           << "passing_threshold: " << c.passing_threshold << std::endl
          //  << "do_not_move_over_threshold: " << c.do_not_move_over_threshold << std::endl
           << "approaching_threshold: " << c.approaching_threshold << std::endl
           << "finished_passing_threshold: " << c.finished_passing_threshold << std::endl
           << "min_lane_following_duration_before_lane_change: " << c.min_lane_following_duration_before_lane_change << std::endl
           << "bsm_processing_frequency: " << c.bsm_processing_frequency << std::endl
           << "speed_limit_reduction_during_passing: " << c.speed_limit_reduction_during_passing << std::endl
           << "minimum_reduced_speed_limit: " << c.minimum_reduced_speed_limit << std::endl
           << "default_speed_limit: " << c.default_speed_limit << std::endl
           << "reduced_speed_buffer: " << c.reduced_speed_buffer << std::endl
           << "timeout_check_frequency: " << c.timeout_check_frequency << std::endl
           << "timeout_duration: " << c.timeout_duration << std::endl
           << "minimal_plan_duration: " << c.minimal_plan_duration << std::endl
           << "buffer_distance_before_stopping: " << c.buffer_distance_before_stopping << std::endl 
           << "stopping_accel_limit_multiplier: " << c.stopping_accel_limit_multiplier << std::endl 
           << "vehicle_acceleration_limit: " << c.vehicle_acceleration_limit << std::endl 
           << "route_end_point_buffer: " << c.route_end_point_buffer << std::endl
           << "approaching_erv_status_publication_frequency: " << c.approaching_erv_status_publication_frequency << std::endl
           << "warning_broadcast_frequency: " << c.warning_broadcast_frequency << std::endl 
           << "max_warning_broadcasts: " << c.max_warning_broadcasts << std::endl 
           << "lane_following_plugin: " << c.lane_following_plugin << std::endl
           << "lane_change_plugin: " << c.lane_change_plugin << std::endl
           << "stop_and_wait_plugin: " << c.stop_and_wait_plugin << std::endl
           << "vehicle_id: " << c.vehicle_id << std::endl
           << "}" << std::endl;
      return output;
    }

Member Data Documentation

approaching_erv_status_publication_frequency

double approaching_emergency_vehicle_plugin::Config::approaching_erv_status_publication_frequency = 1.0

Definition at line 72 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_activate_plugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

approaching_threshold

double approaching_emergency_vehicle_plugin::Config::approaching_threshold = 60.0

Definition at line 33 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateApproachingErvStatusMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::plan_maneuvers_callback().

bsm_processing_frequency

double approaching_emergency_vehicle_plugin::Config::bsm_processing_frequency = 1.0

Definition at line 42 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::incomingBsmCallback(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

buffer_distance_before_stopping

double approaching_emergency_vehicle_plugin::Config::buffer_distance_before_stopping = 45.0

Definition at line 63 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::addStopAndWaitToEndOfPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

default_speed_limit

double approaching_emergency_vehicle_plugin::Config::default_speed_limit = 2.2352

Definition at line 50 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::getLaneletSpeedLimit(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

finished_passing_threshold

double approaching_emergency_vehicle_plugin::Config::finished_passing_threshold = 152.4

Definition at line 36 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::getSecondsUntilPassing(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

lane_change_plugin

std::string approaching_emergency_vehicle_plugin::Config::lane_change_plugin = "cooperative_lanechange"

Definition at line 85 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::composeLaneChangeManeuverMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

lane_following_plugin

std::string approaching_emergency_vehicle_plugin::Config::lane_following_plugin = "inlanecruising_plugin"

Definition at line 83 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::composeLaneFollowingManeuverMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

max_warning_broadcasts

int approaching_emergency_vehicle_plugin::Config::max_warning_broadcasts = 5

Definition at line 78 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::broadcastWarningToErv(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

min_lane_following_duration_before_lane_change

double approaching_emergency_vehicle_plugin::Config::min_lane_following_duration_before_lane_change = 3.0

Definition at line 39 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateMoveOverManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

minimal_plan_duration

double approaching_emergency_vehicle_plugin::Config::minimal_plan_duration = 15.0

Definition at line 61 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateMoveOverManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateReducedSpeedLaneFollowingeManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

minimum_reduced_speed_limit

double approaching_emergency_vehicle_plugin::Config::minimum_reduced_speed_limit = 2.2352

Definition at line 47 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateReducedSpeedLaneFollowingeManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

passing_threshold

double approaching_emergency_vehicle_plugin::Config::passing_threshold = 15.0

Definition at line 30 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::plan_maneuvers_callback().

reduced_speed_buffer

double approaching_emergency_vehicle_plugin::Config::reduced_speed_buffer = 1.1176

Definition at line 52 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateApproachingErvStatusMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

route_end_point_buffer

double approaching_emergency_vehicle_plugin::Config::route_end_point_buffer = 10.0

Definition at line 70 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::composeStopAndWaitManeuverMessage(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

speed_limit_reduction_during_passing

double approaching_emergency_vehicle_plugin::Config::speed_limit_reduction_during_passing = 4.4704

Definition at line 44 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateReducedSpeedLaneFollowingeManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

stop_and_wait_plugin

std::string approaching_emergency_vehicle_plugin::Config::stop_and_wait_plugin = "stop_and_wait_plugin"

Definition at line 87 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::composeStopAndWaitManeuverMessage(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

stopping_accel_limit_multiplier

double approaching_emergency_vehicle_plugin::Config::stopping_accel_limit_multiplier = 0.5

Definition at line 65 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateMoveOverManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateReducedSpeedLaneFollowingeManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

timeout_check_frequency

double approaching_emergency_vehicle_plugin::Config::timeout_check_frequency = 2.0

Definition at line 55 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_activate_plugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

timeout_duration

double approaching_emergency_vehicle_plugin::Config::timeout_duration = 5.0

Definition at line 58 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::checkForErvTimeout(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

vehicle_acceleration_limit

double approaching_emergency_vehicle_plugin::Config::vehicle_acceleration_limit = 2.0

Definition at line 68 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateMoveOverManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::generateReducedSpeedLaneFollowingeManeuverPlan(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

vehicle_id

std::string approaching_emergency_vehicle_plugin::Config::vehicle_id = "DEFAULT_VEHICLE_ID"

Definition at line 89 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::broadcastWarningToErv(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::incomingEmergencyVehicleAckCallback(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

vehicle_length

double approaching_emergency_vehicle_plugin::Config::vehicle_length = 4.0

Definition at line 81 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::getSecondsUntilPassing(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

warning_broadcast_frequency

double approaching_emergency_vehicle_plugin::Config::warning_broadcast_frequency = 1.0

Definition at line 75 of file approaching_emergency_vehicle_plugin_config.hpp.

Referenced by approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::ApproachingEmergencyVehiclePlugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_activate_plugin(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::on_configure_plugin(), and approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin::parameter_update_callback().

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

• approaching_emergency_vehicle_plugin/include/approaching_emergency_vehicle_plugin/approaching_emergency_vehicle_plugin_config.hpp