Struct to store the configuration settings for the LCIStrategicPlugin class. More...

#include <lci_strategic_plugin_config.hpp>

Collaboration diagram for lci_strategic_plugin::LCIStrategicPluginConfig:

Public Attributes
double	vehicle_decel_limit = 2.0
	The maximum allowable vehicle deceleration limit in m/s. More...

double	vehicle_decel_limit_multiplier = 0.75
	A multiplier to apply to the maximum allowable vehicle deceleration limit so we plan under our capabilities. More...

double	vehicle_accel_limit = 2.0
	The maximum allowable vehicle acceleration limit in m/s. More...

double	vehicle_accel_limit_multiplier = 0.75
	A multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities. More...

double	min_approach_distance = 30.0
	The minimum distance in meters that the vehicle can be at before requiring a transition to the APPROACH state. More...

double	trajectory_smoothing_activation_distance = 200.0
	Downtrack distance until nearest intersection where the Trajectory Smoothing algorithm should activate. More...

double	stopping_location_buffer = 3.0
	A buffer infront of the stopping location which will still be considered a valid stop. Units in meters. More...

double	green_light_time_buffer = 0.0
	A buffer in seconds around the green phase which will reduce the phase length such that vehicle still considers it non-green. More...

double	algo_minimum_speed = 2.2352
	Minimum allowable speed TS algorithm in m/s. More...

double	deceleration_fraction = 0.8

double	desired_distance_to_stop_buffer = 10.0
	Double: Desired distance to stop buffer in meters. More...

double	min_maneuver_planning_period = 15.1
	The minimum period in seconds which a maneuver plan must cover if the plugin wishes to control the whole plan. More...

double	reaction_time = 2.0
	Double: Vehicle reaction time to a received schedule in seconds (approximate value, only used for communication with the schedule) More...

double	min_gap = 10.0
	Double: Minimum inter-vehicle gap. More...

bool	enable_carma_streets_connection = false
	Bool: Enable carma streets connection. More...

double	mobility_rate = 10.0
	Double: Mobility operation rate. More...

std::string	vehicle_id = "default_id"
	License plate of the vehicle. More...

std::string	strategic_plugin_name = "lci_strategic_plugin"
	The name to use for this plugin during comminications with the arbitrator. More...

std::string	lane_following_plugin_name = "light_controlled_intersection_tactical_plugin"

std::string	stop_and_wait_plugin_name = "stop_and_wait_plugin"
	The name of the plugin to use for stop and wait trajectory planning. More...

std::string	intersection_transit_plugin_name = "intersection_transit_maneuvering"

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

Detailed Description

Struct to store the configuration settings for the LCIStrategicPlugin class.

Definition at line 23 of file lci_strategic_plugin_config.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 92 of file lci_strategic_plugin_config.hpp.

  {
    output << "LCIStrategicPluginConfig { " << std::endl
          << "vehicle_decel_limit: " << c.vehicle_decel_limit << std::endl
          << "vehicle_decel_limit_multiplier: " << c.vehicle_decel_limit_multiplier << std::endl
          << "vehicle_accel_limit: " << c.vehicle_accel_limit << std::endl
          << "vehicle_accel_limit_multiplier: " << c.vehicle_accel_limit_multiplier << std::endl
          << "min_approach_distance: " << c.min_approach_distance << std::endl
          << "trajectory_smoothing_activation_distance: " << c.trajectory_smoothing_activation_distance << std::endl
          << "stopping_location_buffer: " << c.stopping_location_buffer << std::endl
          << "green_light_time_buffer: " << c.green_light_time_buffer << std::endl
          << "algo_minimum_speed: " << c.algo_minimum_speed << std::endl
          << "deceleration_fraction: " << c.deceleration_fraction << std::endl
          << "desired_distance_to_stop_buffer: " << c.desired_distance_to_stop_buffer << std::endl
          << "min_maneuver_planning_period: " << c.min_maneuver_planning_period << std::endl
          << "reaction_time: " << c.reaction_time << std::endl
          << "min_gap: " << c.min_gap << std::endl
          << "enable_carma_streets_connection: " << c.enable_carma_streets_connection << std::endl
          << "mobility_rate: " << c.mobility_rate << std::endl
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "strategic_plugin_name: " << c.strategic_plugin_name << std::endl
          << "lane_following_plugin_name: " << c.lane_following_plugin_name << std::endl
          << "stop_and_wait_plugin_name: " << c.stop_and_wait_plugin_name << std::endl
          << "intersection_transit_plugin_name: " << c.intersection_transit_plugin_name << std::endl
          << "}" << std::endl;
    return output;
  }

Member Data Documentation

◆ algo_minimum_speed

double lci_strategic_plugin::LCIStrategicPluginConfig::algo_minimum_speed = 2.2352

Minimum allowable speed TS algorithm in m/s.

Definition at line 50 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::get_earliest_entry_time(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), lci_strategic_plugin::LCIStrategicPlugin::planWhenAPPROACHING(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE().

◆ deceleration_fraction

double lci_strategic_plugin::LCIStrategicPluginConfig::deceleration_fraction = 0.8

Double: Safety multiplier of planned allowable vehicle deceleration to use when stopping. This new deceleration makes vehicle decelerate earlier distance. NOTE: Stacks on vehicle_decel_limit_multiplier and stopping uses max_decel; this distance is only used for calculating earlier downtrack

Definition at line 54 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenAPPROACHING().

◆ desired_distance_to_stop_buffer

double lci_strategic_plugin::LCIStrategicPluginConfig::desired_distance_to_stop_buffer = 10.0

Double: Desired distance to stop buffer in meters.

Definition at line 57 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenAPPROACHING().

◆ enable_carma_streets_connection

bool lci_strategic_plugin::LCIStrategicPluginConfig::enable_carma_streets_connection = false

Bool: Enable carma streets connection.

Definition at line 69 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::get_final_entry_time_and_conditions(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::plan_maneuvers_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenWAITING().

◆ green_light_time_buffer

double lci_strategic_plugin::LCIStrategicPluginConfig::green_light_time_buffer = 0.0

A buffer in seconds around the green phase which will reduce the phase length such that vehicle still considers it non-green.

Definition at line 47 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::canArriveAtGreenWithCertainty(), lci_strategic_plugin::LCIStrategicPlugin::get_final_entry_time_and_conditions(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), and lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback().

◆ intersection_transit_plugin_name

std::string lci_strategic_plugin::LCIStrategicPluginConfig::intersection_transit_plugin_name = "intersection_transit_maneuvering"

The name of the plugin to use for intersection transit trajectory planning This plugin is used to travel INSIDE the intersection where there is no trajectory smoothing algorithm active

Definition at line 89 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::composeIntersectionTransitMessage(), and lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin().

◆ lane_following_plugin_name

std::string lci_strategic_plugin::LCIStrategicPluginConfig::lane_following_plugin_name = "light_controlled_intersection_tactical_plugin"

The name of the tactical plugin to use for Lane Following trajectory planning This plugin is used to apply trajectory smoothing algorithm BEFORE entering the intersection if within activation distance

Definition at line 82 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::composeTrajectorySmoothingManeuverMessage(), and lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin().

◆ min_approach_distance

double lci_strategic_plugin::LCIStrategicPluginConfig::min_approach_distance = 30.0

The minimum distance in meters that the vehicle can be at before requiring a transition to the APPROACH state.

Definition at line 38 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE().

◆ min_gap

double lci_strategic_plugin::LCIStrategicPluginConfig::min_gap = 10.0

Double: Minimum inter-vehicle gap.

Definition at line 66 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::generateMobilityOperation().

◆ min_maneuver_planning_period

double lci_strategic_plugin::LCIStrategicPluginConfig::min_maneuver_planning_period = 15.1

The minimum period in seconds which a maneuver plan must cover if the plugin wishes to control the whole plan.

Definition at line 60 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::handleCruisingUntilStop(), lci_strategic_plugin::LCIStrategicPlugin::handleStopping(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenWAITING().

◆ mobility_rate

double lci_strategic_plugin::LCIStrategicPluginConfig::mobility_rate = 10.0

Double: Mobility operation rate.

Definition at line 72 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::on_activate_plugin(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), and lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback().

◆ reaction_time

double lci_strategic_plugin::LCIStrategicPluginConfig::reaction_time = 2.0

Double: Vehicle reaction time to a received schedule in seconds (approximate value, only used for communication with the schedule)

Definition at line 63 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::generateMobilityOperation().

◆ stop_and_wait_plugin_name

std::string lci_strategic_plugin::LCIStrategicPluginConfig::stop_and_wait_plugin_name = "stop_and_wait_plugin"

The name of the plugin to use for stop and wait trajectory planning.

Definition at line 85 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::composeStopAndWaitManeuverMessage(), and lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin().

◆ stopping_location_buffer

double lci_strategic_plugin::LCIStrategicPluginConfig::stopping_location_buffer = 3.0

A buffer infront of the stopping location which will still be considered a valid stop. Units in meters.

Definition at line 44 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::composeStopAndWaitManeuverMessage(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenAPPROACHING().

◆ strategic_plugin_name

std::string lci_strategic_plugin::LCIStrategicPluginConfig::strategic_plugin_name = "lci_strategic_plugin"

The name to use for this plugin during comminications with the arbitrator.

Definition at line 78 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::composeIntersectionTransitMessage(), lci_strategic_plugin::LCIStrategicPlugin::composeStopAndWaitManeuverMessage(), lci_strategic_plugin::LCIStrategicPlugin::composeTrajectorySmoothingManeuverMessage(), and lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin().

◆ trajectory_smoothing_activation_distance

double lci_strategic_plugin::LCIStrategicPluginConfig::trajectory_smoothing_activation_distance = 200.0

Downtrack distance until nearest intersection where the Trajectory Smoothing algorithm should activate.

Definition at line 41 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE().

◆ vehicle_accel_limit

double lci_strategic_plugin::LCIStrategicPluginConfig::vehicle_accel_limit = 2.0

The maximum allowable vehicle acceleration limit in m/s.

Definition at line 32 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::generateMobilityOperation(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE().

◆ vehicle_accel_limit_multiplier

double lci_strategic_plugin::LCIStrategicPluginConfig::vehicle_accel_limit_multiplier = 0.75

A multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities.

Definition at line 35 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::generateMobilityOperation(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE().

◆ vehicle_decel_limit

double lci_strategic_plugin::LCIStrategicPluginConfig::vehicle_decel_limit = 2.0

The maximum allowable vehicle deceleration limit in m/s.

Definition at line 26 of file lci_strategic_plugin_config.hpp.

Referenced by lci_strategic_plugin::LCIStrategicPlugin::LCIStrategicPlugin(), lci_strategic_plugin::LCIStrategicPlugin::generateMobilityOperation(), lci_strategic_plugin::LCIStrategicPlugin::on_configure_plugin(), lci_strategic_plugin::LCIStrategicPlugin::parameter_update_callback(), lci_strategic_plugin::LCIStrategicPlugin::planWhenUNAVAILABLE(), and lci_strategic_plugin::LCIStrategicPlugin::planWhenWAITING().

◆ vehicle_decel_limit_multiplier

double lci_strategic_plugin::LCIStrategicPluginConfig::vehicle_decel_limit_multiplier = 0.75

A multiplier to apply to the maximum allowable vehicle deceleration limit so we plan under our capabilities.

Definition at line 29 of file lci_strategic_plugin_config.hpp.