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

#include <sci_strategic_plugin_config.hpp>

Collaboration diagram for sci_strategic_plugin::SCIStrategicPluginConfig:

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

double	vehicle_decel_limit_multiplier = 0.5
	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 = 0.5
	A multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities. More...

double	stop_line_buffer = 3.0
	A buffer infront of the stopping location which will still be considered a valid stop. 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	delta_t = 1.0

double	min_gap = 10.0

double	veh_length = 4.0

double	reaction_time = 5.0

double	intersection_exit_zone_length = 15.0

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

std::string	lane_following_plugin_name = "stop_controlled_intersection_tactical_plugin"
	The name of the tactical plugin to use for Lane Following trajectory planning. More...

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"
	The name of the plugin to use for intersection transit trajectory planning. More...

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

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

Detailed Description

Struct to store the configuration settings for the WzStrategicPlugin class.

Definition at line 23 of file sci_strategic_plugin_config.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 74 of file sci_strategic_plugin_config.hpp.

  {
    output << "SCIStrategicPluginConfig { " << 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
          << "stop_line_buffer: " << c.stop_line_buffer << std::endl
          << "min_maneuver_planning_period: " << c.min_maneuver_planning_period << std::endl
          << "delta_t: " << c.delta_t << std::endl
          << "min_gap: " << c.min_gap << std::endl
          << "veh_length: " << c.veh_length << std::endl
          << "reaction_time: " << c.reaction_time << std::endl
          << "intersection_exit_zone_length: " << c.intersection_exit_zone_length << 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
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "}" << std::endl;
    return output;
  }

Member Data Documentation

◆ delta_t

double sci_strategic_plugin::SCIStrategicPluginConfig::delta_t = 1.0

Definition at line 44 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::caseThreeSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback().

◆ intersection_exit_zone_length

double sci_strategic_plugin::SCIStrategicPluginConfig::intersection_exit_zone_length = 15.0

Definition at line 56 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback(), and sci_strategic_plugin::SCIStrategicPlugin::plan_maneuvers_callback().

◆ intersection_transit_plugin_name

std::string sci_strategic_plugin::SCIStrategicPluginConfig::intersection_transit_plugin_name = "intersection_transit_maneuvering"

The name of the plugin to use for intersection transit trajectory planning.

Definition at line 68 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::composeIntersectionTransitMessage(), and sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin().

◆ lane_following_plugin_name

std::string sci_strategic_plugin::SCIStrategicPluginConfig::lane_following_plugin_name = "stop_controlled_intersection_tactical_plugin"

The name of the tactical plugin to use for Lane Following trajectory planning.

Definition at line 62 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::composeLaneFollowingManeuverMessage(), and sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin().

◆ min_gap

double sci_strategic_plugin::SCIStrategicPluginConfig::min_gap = 10.0

Definition at line 47 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback().

◆ min_maneuver_planning_period

double sci_strategic_plugin::SCIStrategicPluginConfig::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 41 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::plan_maneuvers_callback().

◆ reaction_time

double sci_strategic_plugin::SCIStrategicPluginConfig::reaction_time = 5.0

Definition at line 53 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback().

◆ stop_and_wait_plugin_name

std::string sci_strategic_plugin::SCIStrategicPluginConfig::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 65 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::composeStopAndWaitManeuverMessage().

◆ stop_line_buffer

double sci_strategic_plugin::SCIStrategicPluginConfig::stop_line_buffer = 3.0

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

Definition at line 38 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::composeStopAndWaitManeuverMessage(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback(), and sci_strategic_plugin::SCIStrategicPlugin::plan_maneuvers_callback().

◆ strategic_plugin_name

std::string sci_strategic_plugin::SCIStrategicPluginConfig::strategic_plugin_name = "sci_strategic_plugin"

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

Definition at line 59 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::composeIntersectionTransitMessage(), sci_strategic_plugin::SCIStrategicPlugin::composeLaneFollowingManeuverMessage(), sci_strategic_plugin::SCIStrategicPlugin::composeStopAndWaitManeuverMessage(), and sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin().

◆ veh_length

double sci_strategic_plugin::SCIStrategicPluginConfig::veh_length = 4.0

Definition at line 50 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::plan_maneuvers_callback().

◆ vehicle_accel_limit

double sci_strategic_plugin::SCIStrategicPluginConfig::vehicle_accel_limit = 2.0

The maximum allowable vehicle acceleration limit in m/s.

Definition at line 32 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::calc_speed_before_decel(), sci_strategic_plugin::SCIStrategicPlugin::caseOneSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::caseTwoSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), and sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin().

◆ vehicle_accel_limit_multiplier

double sci_strategic_plugin::SCIStrategicPluginConfig::vehicle_accel_limit_multiplier = 0.5

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

Definition at line 35 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::calc_speed_before_decel(), sci_strategic_plugin::SCIStrategicPlugin::caseOneSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::caseTwoSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::parameter_update_callback().

◆ vehicle_decel_limit

double sci_strategic_plugin::SCIStrategicPluginConfig::vehicle_decel_limit = 2.0

The maximum allowable vehicle deceleration limit in m/s.

Definition at line 26 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::calc_speed_before_decel(), sci_strategic_plugin::SCIStrategicPlugin::caseOneSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::caseTwoSpeedProfile(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin(), and sci_strategic_plugin::SCIStrategicPlugin::plan_maneuvers_callback().

◆ vehicle_decel_limit_multiplier

double sci_strategic_plugin::SCIStrategicPluginConfig::vehicle_decel_limit_multiplier = 0.5

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

Definition at line 29 of file sci_strategic_plugin_config.hpp.

◆ vehicle_id

std::string sci_strategic_plugin::SCIStrategicPluginConfig::vehicle_id = "default_id"

License plate of the vehicle.

Definition at line 71 of file sci_strategic_plugin_config.hpp.

Referenced by sci_strategic_plugin::SCIStrategicPlugin::SCIStrategicPlugin(), sci_strategic_plugin::SCIStrategicPlugin::generateMobilityOperation(), sci_strategic_plugin::SCIStrategicPlugin::mobilityOperationCb(), and sci_strategic_plugin::SCIStrategicPlugin::on_configure_plugin().

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

sci_strategic_plugin/include/sci_strategic_plugin_config.hpp

Public Attributes

Friends