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

#include <cooperative_lanechange_config.hpp>

Collaboration diagram for cooperative_lanechange::Config:

Public Attributes
double	trajectory_time_length = 6.0

std::string	control_plugin_name = "pure_pursuit"

double	minimum_speed = 2.2352

double	max_accel = 1.5

double	minimum_lookahead_distance = 5.0

double	maximum_lookahead_distance = 25.0

double	minimum_lookahead_speed = 2.8

double	maximum_lookahead_speed = 13.9

double	lateral_accel_limit = 1.5

int	speed_moving_average_window_size = 5

int	curvature_moving_average_window_size = 9

int	curvature_calc_lookahead_count = 1

int	downsample_ratio = 1

double	destination_range = 0.0

double	lanechange_time_out = 6.0

double	min_timestep = 0.1

double	starting_downtrack_range = 5.0

double	starting_fraction = 0.2

double	mid_fraction = 0.5

double	min_desired_gap = 5.0

double	desired_time_gap = 3.0

int	turn_downsample_ratio = 0

double	curve_resample_step_size = 1.0

double	back_distance = 0.0

double	buffer_ending_downtrack = 5.0

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 cooperative_lanechange.

Definition at line 28 of file cooperative_lanechange_config.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 58 of file cooperative_lanechange_config.hpp.

    {
      output << "cooperative_lanechange::Config { " << std::endl
           << "trajectory_time_length: " << c.trajectory_time_length << std::endl
           << "control_plugin_name: " << c.control_plugin_name << std::endl
           << "minimum_speed: " << c.minimum_speed << std::endl
           << "max_accel: " << c.max_accel << std::endl
           << "minimum_lookahead_distance: " << c.minimum_lookahead_distance << std::endl
           << "maximum_lookahead_distance: " << c.maximum_lookahead_distance << std::endl
           << "minimum_lookahead_speed: " << c.minimum_lookahead_speed << std::endl
           << "maximum_lookahead_speed: " << c.maximum_lookahead_speed << 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
           << "curvature_calc_lookahead_count: " << c.curvature_calc_lookahead_count << std::endl
           << "downsample_ratio: " << c.downsample_ratio << std::endl
           << "destination_range: " << c.destination_range << std::endl
           << "lanechange_time_out: " << c.lanechange_time_out << std::endl
           << "min_timestep: " << c.min_timestep << std::endl
           << "starting_downtrack_range: " << c.starting_downtrack_range << std::endl
           << "starting_fraction: " << c.starting_fraction << std::endl
           << "mid_fraction: " << c.mid_fraction << std::endl
           << "min_desired_gap: " << c.min_desired_gap << std::endl
           << "desired_time_gap: " << c.desired_time_gap << std::endl
           << "turn_downsample_ratio: " << c.turn_downsample_ratio << std::endl
           << "curve_resample_step_size: " << c.curve_resample_step_size << std::endl
           << "back_distance: " << c.back_distance << std::endl
           << "buffer_ending_downtrack: " << c.buffer_ending_downtrack << std::endl
           << "vehicle_id: " << c.vehicle_id << std::endl
           << "}" << std::endl;
      return output;
    }