light_controlled_intersection_tactical_plugin::Config Struct Reference

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

#include <light_controlled_intersection_tactical_plugin_config.hpp>

Collaboration diagram for light_controlled_intersection_tactical_plugin::Config:

Public Attributes
double	centerline_sampling_spacing = 1.0
double	trajectory_time_length = 12.0
int	default_downsample_ratio = 10
int	turn_downsample_ratio = 5
double	curve_resample_step_size = 1.0
int	curvature_moving_average_window_size = 9
int	speed_moving_average_window_size = 5
double	back_distance = 20.0
double	buffer_ending_downtrack = 40.0
double	vehicle_decel_limit_multiplier = 1.0
double	vehicle_accel_limit_multiplier = 1.0
double	lat_accel_multiplier = 1.0
double	stop_line_buffer = 0.50
double	minimum_speed = 4.4704
double	algorithm_evaluation_distance = 35.0
double	algorithm_evaluation_period = 4.5
double	lateral_accel_limit = 2.5
double	vehicle_accel_limit = 2.0
double	vehicle_decel_limit = 2.0
int	tactical_plugin_service_call_timeout = 100
bool	enable_object_avoidance = false

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

Detailed Description

Stuct containing the algorithm configuration values for light_controlled_intersection_tactical_plugin.

Definition at line 28 of file light_controlled_intersection_tactical_plugin_config.hpp.

Friends And Related Function Documentation

operator<<

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

friend

Definition at line 53 of file light_controlled_intersection_tactical_plugin_config.hpp.

    {
      output << "light_controlled_intersection_tactical_plugin::Config { " << std::endl
           << "centerline_sampling_spacing: " << c.centerline_sampling_spacing << std::endl
           << "trajectory_time_length: " << c.trajectory_time_length << std::endl
           << "default_downsample_ratio: " << c.default_downsample_ratio << std::endl
           << "turn_downsample_ratio: " << c.turn_downsample_ratio << std::endl
           << "curve_resample_step_size: " << c.curve_resample_step_size << std::endl
           << "curvature_moving_average_window_size: " << c.curvature_moving_average_window_size << std::endl
           << "speed_moving_average_window_size: " << c.speed_moving_average_window_size << std::endl
           << "back_distance: " << c.back_distance << std::endl
           << "buffer_ending_downtrack: " << c.buffer_ending_downtrack << std::endl
           << "vehicle_decel_limit_multiplier: " << c.vehicle_decel_limit_multiplier << std::endl
           << "vehicle_accel_limit_multiplier: " << c.vehicle_accel_limit_multiplier << std::endl
           << "lat_accel_multiplier: " << c.lat_accel_multiplier << std::endl
           << "stop_line_buffer: " << c.stop_line_buffer << std::endl
           << "minimum_speed: " << c.minimum_speed << std::endl
           << "algorithm_evaluation_distance: " << c.algorithm_evaluation_distance << std::endl
           << "algorithm_evaluation_period: " << c.algorithm_evaluation_period << std::endl
           << "lateral_accel_limit: " << c.lateral_accel_limit << std::endl
           << "vehicle_accel_limit: " << c.vehicle_accel_limit << std::endl
           << "vehicle_decel_limit: " << c.vehicle_decel_limit << std::endl
           << "tactical_plugin_service_call_timeout: " << c.tactical_plugin_service_call_timeout << std::endl
           << "enable_object_avoidance: " << c.enable_object_avoidance << std::endl
           << "}" << std::endl;
      return output;
    }

Member Data Documentation

algorithm_evaluation_distance

double light_controlled_intersection_tactical_plugin::Config::algorithm_evaluation_distance = 35.0

Definition at line 44 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

algorithm_evaluation_period

double light_controlled_intersection_tactical_plugin::Config::algorithm_evaluation_period = 4.5

Definition at line 45 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

back_distance

double light_controlled_intersection_tactical_plugin::Config::back_distance = 20.0

Definition at line 37 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

buffer_ending_downtrack

double light_controlled_intersection_tactical_plugin::Config::buffer_ending_downtrack = 40.0

Definition at line 38 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

centerline_sampling_spacing

double light_controlled_intersection_tactical_plugin::Config::centerline_sampling_spacing = 1.0

Definition at line 30 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback().

curvature_moving_average_window_size

int light_controlled_intersection_tactical_plugin::Config::curvature_moving_average_window_size = 9

Definition at line 35 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

curve_resample_step_size

double light_controlled_intersection_tactical_plugin::Config::curve_resample_step_size = 1.0

Definition at line 34 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

default_downsample_ratio

int light_controlled_intersection_tactical_plugin::Config::default_downsample_ratio = 10

Definition at line 32 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

enable_object_avoidance

bool light_controlled_intersection_tactical_plugin::Config::enable_object_avoidance = false

Definition at line 50 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

lat_accel_multiplier

double light_controlled_intersection_tactical_plugin::Config::lat_accel_multiplier = 1.0

Definition at line 41 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback().

lateral_accel_limit

double light_controlled_intersection_tactical_plugin::Config::lateral_accel_limit = 2.5

Definition at line 46 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

minimum_speed

double light_controlled_intersection_tactical_plugin::Config::minimum_speed = 4.4704

Definition at line 43 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::applyTrajectorySmoothingAlgorithm(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

speed_moving_average_window_size

int light_controlled_intersection_tactical_plugin::Config::speed_moving_average_window_size = 5

Definition at line 36 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

stop_line_buffer

double light_controlled_intersection_tactical_plugin::Config::stop_line_buffer = 0.50

Definition at line 42 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback().

tactical_plugin_service_call_timeout

int light_controlled_intersection_tactical_plugin::Config::tactical_plugin_service_call_timeout = 100

Definition at line 49 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

trajectory_time_length

double light_controlled_intersection_tactical_plugin::Config::trajectory_time_length = 12.0

Definition at line 31 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

turn_downsample_ratio

int light_controlled_intersection_tactical_plugin::Config::turn_downsample_ratio = 5

Definition at line 33 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

vehicle_accel_limit

double light_controlled_intersection_tactical_plugin::Config::vehicle_accel_limit = 2.0

Definition at line 47 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

vehicle_accel_limit_multiplier

double light_controlled_intersection_tactical_plugin::Config::vehicle_accel_limit_multiplier = 1.0

Definition at line 40 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback().

vehicle_decel_limit

double light_controlled_intersection_tactical_plugin::Config::vehicle_decel_limit = 2.0

Definition at line 48 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin().

vehicle_decel_limit_multiplier

double light_controlled_intersection_tactical_plugin::Config::vehicle_decel_limit_multiplier = 1.0

Definition at line 39 of file light_controlled_intersection_tactical_plugin_config.hpp.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode(), light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::parameter_update_callback().

---

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

• light_controlled_intersection_tactical_plugin/include/light_controlled_intersection_tactical_plugin/light_controlled_intersection_tactical_plugin_config.hpp