#include <field_operator_application_for_autoware_universe.hpp>

Inheritance diagram for concealer::FieldOperatorApplicationFor< AutowareUniverse >:

Collaboration diagram for concealer::FieldOperatorApplicationFor< AutowareUniverse >:

Public Member Functions
template<typename... Ts>
CONCEALER_PUBLIC	FieldOperatorApplicationFor (Ts &&... xs)

	~FieldOperatorApplicationFor () override

auto	engage () -> void override

auto	engageable () const -> bool override

auto	engaged () const -> bool override

auto	getAutowareStateName () const -> std::string override

auto	getWaypoints () const -> traffic_simulator_msgs::msg::WaypointsArray override

auto	getTurnIndicatorsCommand () const -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand override

auto	getEmergencyStateName () const -> std::string override

auto	getMinimumRiskManeuverBehaviorName () const -> std::string override

auto	getMinimumRiskManeuverStateName () const -> std::string override

auto	initialize (const geometry_msgs::msg::Pose &) -> void override

auto	plan (const std::vector< geometry_msgs::msg::PoseStamped > &) -> void override

auto	clearRoute () -> void override

auto	requestAutoModeForCooperation (const std::string &, bool) -> void override

auto	restrictTargetSpeed (double) const -> double override

auto	sendCooperateCommand (const std::string &, const std::string &) -> void override

auto	setVelocityLimit (double) -> void override

Public Member Functions inherited from concealer::FieldOperatorApplication
CONCEALER_PUBLIC	FieldOperatorApplication (const pid_t=0)

template<typename... Ts>
CONCEALER_PUBLIC	FieldOperatorApplication (Ts &&... xs)

	~FieldOperatorApplication () override=default

auto	spinSome () -> void

auto	initialized () const noexcept

virtual auto	rethrow () const noexcept(false) -> void

Public Member Functions inherited from concealer::TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >
	TransitionAssertion ()

auto	makeTransitionError (const std::string &expected) const

auto	asAutoware () -> FieldOperatorApplicationFor< AutowareUniverse > &

auto	asAutoware () const -> const FieldOperatorApplicationFor< AutowareUniverse > &

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT (Initializing)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT (WaitingForRoute)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT (Planning)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE_WITH_INITIALIZE_TIME_LIMIT (WaitingForEngage)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (Driving)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (ArrivedGoal)

	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (Finalizing)

Public Attributes
SubscriberWrapper< autoware_auto_planning_msgs::msg::PathWithLaneId >	getPathWithLaneId

Public Attributes inherited from concealer::TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >
const clock_type::time_point	start

const std::chrono::seconds	initialize_duration

Protected Member Functions
auto	sendSIGINT () -> void override

Protected Member Functions inherited from concealer::FieldOperatorApplication
auto	stopRequest () noexcept -> void

auto	isStopRequested () const noexcept -> bool

auto	shutdownAutoware () -> void

Friends
class	TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >

Additional Inherited Members
Public Types inherited from concealer::TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >
using	clock_type = std::chrono::steady_clock

using	rate_type = rclcpp::GenericRate< clock_type >

Protected Attributes inherited from concealer::FieldOperatorApplication
const pid_t	process_id = 0

TaskQueue	task_queue

bool	initialize_was_called = false

Constructor & Destructor Documentation

◆ FieldOperatorApplicationFor()

template<typename... Ts>

CONCEALER_PUBLIC concealer::FieldOperatorApplicationFor< AutowareUniverse >::FieldOperatorApplicationFor ( Ts &&... xs )

inlineexplicit

◆ ~FieldOperatorApplicationFor()

concealer::FieldOperatorApplicationFor< AutowareUniverse >::~FieldOperatorApplicationFor ( )

override

Member Function Documentation

◆ clearRoute()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::clearRoute ( ) -> void

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ engage()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::engage ( ) -> void

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ engageable()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::engageable ( ) const -> bool

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ engaged()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::engaged ( ) const -> bool

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ getAutowareStateName()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getAutowareStateName ( ) const -> std::string

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ getEmergencyStateName()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getEmergencyStateName ( ) const -> std::string

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ getMinimumRiskManeuverBehaviorName()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getMinimumRiskManeuverBehaviorName ( ) const -> std::string

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ getMinimumRiskManeuverStateName()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getMinimumRiskManeuverStateName ( ) const -> std::string

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ getTurnIndicatorsCommand()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getTurnIndicatorsCommand ( ) const -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand

overridevirtual

Reimplemented from concealer::FieldOperatorApplication.

◆ getWaypoints()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::getWaypoints ( ) const -> traffic_simulator_msgs::msg::WaypointsArray

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ initialize()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::initialize ( const geometry_msgs::msg::Pose & initial_pose ) -> void

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ plan()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::plan ( const std::vector< geometry_msgs::msg::PoseStamped > & route ) -> void

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ requestAutoModeForCooperation()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::requestAutoModeForCooperation	(	const std::string &	module_name,
		bool	enable
	)		-> void

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ restrictTargetSpeed()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::restrictTargetSpeed ( double value ) const -> double

overridevirtual

Implements concealer::FieldOperatorApplication.

◆ sendCooperateCommand()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::sendCooperateCommand	(	const std::string &	module_name,
		const std::string &	command
	)		-> void

overridevirtual

NOTE: Used cooperate statuses will be deleted correctly in Autoware side and provided via topic update. But, their update rate (typ. 10Hz) is lower than the one of scenario_simulator_v2. So, we need to check cooperate statuses if they are used or not in scenario_simulator_v2 side to avoid sending the same cooperate command when sending multiple commands between updates of cooperate statuses.

Implements concealer::FieldOperatorApplication.

◆ sendSIGINT()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::sendSIGINT ( ) -> void

overrideprotectedvirtual

Implements concealer::FieldOperatorApplication.

◆ setVelocityLimit()

auto concealer::FieldOperatorApplicationFor< AutowareUniverse >::setVelocityLimit ( double velocity_limit ) -> void

overridevirtual

Implements concealer::FieldOperatorApplication.

Friends And Related Function Documentation

◆ TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >

friend class TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >

friend

Member Data Documentation

◆ getPathWithLaneId

SubscriberWrapper<autoware_auto_planning_msgs::msg::PathWithLaneId> concealer::FieldOperatorApplicationFor< AutowareUniverse >::getPathWithLaneId

The documentation for this class was generated from the following files:

external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
external/concealer/src/field_operator_application_for_autoware_universe.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ FieldOperatorApplicationFor()

◆ ~FieldOperatorApplicationFor()

Member Function Documentation

◆ clearRoute()

◆ engage()

◆ engageable()

◆ engaged()

◆ getAutowareStateName()

◆ getEmergencyStateName()

◆ getMinimumRiskManeuverBehaviorName()

◆ getMinimumRiskManeuverStateName()

◆ getTurnIndicatorsCommand()

◆ getWaypoints()

◆ initialize()

◆ plan()

◆ requestAutoModeForCooperation()

◆ restrictTargetSpeed()

◆ sendCooperateCommand()

◆ sendSIGINT()

◆ setVelocityLimit()

Friends And Related Function Documentation

◆ TransitionAssertion< FieldOperatorApplicationFor< AutowareUniverse > >

Member Data Documentation

◆ getPathWithLaneId