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

#include <stop_and_dwell_strategic_plugin_config.hpp>

Collaboration diagram for stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig:

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	veh_length = 4.0

double	bus_line_exit_zone_length = 15.0

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

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

double	activation_distance = 200.0
	Activation distance of stop and dwell plugin. More...

double	dwell_time = 0.0
	Dwell time is the time to stop at the bus stop. More...

double	deceleration_fraction = 0.7
	Double: Safety multiplier (must be less than 1.0) of planned allowable vehicle deceleration to use when stopping. This new deceleration makes vehicle decelerate earlier distance. More...

double	desired_distance_to_stop_buffer = 15.0
	Double: Desired distance to stop buffer in meters. More...

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

Detailed Description

Struct to store the configuration settings for the WzStrategicPlugin class.

Definition at line 23 of file stop_and_dwell_strategic_plugin_config.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 76 of file stop_and_dwell_strategic_plugin_config.hpp.

  {
    output << "StopAndDwellStrategicPluginConfig { " << 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
          << "veh_length: " << c.veh_length << std::endl
          << "bus_line_exit_zone_length: " << c.bus_line_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
          << "vehicle_id: " << c.vehicle_id << std::endl
          << "activation_distance: " << c.activation_distance << std::endl
          << "dwell_time: " << c.dwell_time << std::endl
          << "deceleration_fraction: " << c.deceleration_fraction << std::endl
          << "desired_distance_to_stop_buffer: " << c.desired_distance_to_stop_buffer << std::endl
          << "}" << std::endl;
    return output;
  }

Member Data Documentation

◆ activation_distance

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::activation_distance = 200.0

Activation distance of stop and dwell plugin.

Definition at line 62 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ bus_line_exit_zone_length

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::bus_line_exit_zone_length = 15.0

Definition at line 47 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::parameter_update_callback(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ deceleration_fraction

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::deceleration_fraction = 0.7

Double: Safety multiplier (must be less than 1.0) of planned allowable vehicle deceleration to use when stopping. This new deceleration makes vehicle decelerate earlier distance.

Definition at line 68 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ desired_distance_to_stop_buffer

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::desired_distance_to_stop_buffer = 15.0

Double: Desired distance to stop buffer in meters.

Definition at line 71 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ dwell_time

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::dwell_time = 0.0

Dwell time is the time to stop at the bus stop.

Definition at line 65 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ lane_following_plugin_name

std::string stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::lane_following_plugin_name = "inlanecruising_plugin"

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

Definition at line 53 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::composeLaneFollowingManeuverMessage(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

◆ min_maneuver_planning_period

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::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 stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ stop_and_wait_plugin_name

std::string stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::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 56 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::composeStopAndWaitManeuverMessage().

◆ stop_line_buffer

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::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 stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::composeStopAndWaitManeuverMessage(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::parameter_update_callback(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::plan_maneuvers_callback().

◆ strategic_plugin_name

std::string stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::strategic_plugin_name = "stop_and_dwell_strategic_plugin"

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

Definition at line 50 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::composeLaneFollowingManeuverMessage(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::composeStopAndWaitManeuverMessage(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

◆ veh_length

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::veh_length = 4.0

Definition at line 44 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

◆ vehicle_accel_limit

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::vehicle_accel_limit = 2.0

The maximum allowable vehicle acceleration limit in m/s.

Definition at line 32 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

◆ vehicle_accel_limit_multiplier

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::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 stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::parameter_update_callback().

◆ vehicle_decel_limit

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::vehicle_decel_limit = 2.0

The maximum allowable vehicle deceleration limit in m/s.

Definition at line 26 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

◆ vehicle_decel_limit_multiplier

double stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::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 stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::parameter_update_callback().

◆ vehicle_id

std::string stop_and_dwell_strategic_plugin::StopAndDwellStrategicPluginConfig::vehicle_id = "default_id"

License plate of the vehicle.

Definition at line 59 of file stop_and_dwell_strategic_plugin_config.hpp.

Referenced by stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::StopAndDwellStrategicPlugin(), and stop_and_dwell_strategic_plugin::StopAndDwellStrategicPlugin::on_configure_plugin().

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

stop_and_dwell_strategic_plugin/include/stop_and_dwell_strategic_plugin_config.hpp

Public Attributes

Friends

Detailed Description

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ activation_distance

◆ bus_line_exit_zone_length

◆ deceleration_fraction

◆ desired_distance_to_stop_buffer

◆ dwell_time

◆ lane_following_plugin_name

◆ min_maneuver_planning_period

◆ stop_and_wait_plugin_name

◆ stop_line_buffer

◆ strategic_plugin_name

◆ veh_length

◆ vehicle_accel_limit

◆ vehicle_accel_limit_multiplier

◆ vehicle_decel_limit

◆ vehicle_decel_limit_multiplier

◆ vehicle_id