entity_behavior::ActionNode Class Reference

#include <action_node.hpp>

Inheritance diagram for entity_behavior::ActionNode:

Collaboration diagram for entity_behavior::ActionNode:

Public Member Functions
	ActionNode (const std::string &name, const BT::NodeConfiguration &config)
	~ActionNode () override=default
auto	foundConflictingEntity (const lanelet::Ids &following_lanelets) const -> bool
auto	getDistanceToConflictingEntity (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getFrontEntityName (const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< std::string >
auto	calculateStopDistance (const traffic_simulator_msgs::msg::DynamicConstraints &) const -> double
auto	getDistanceToFrontEntity (const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getDistanceToStopLine (const lanelet::Ids &route_lanelets, const std::vector< geometry_msgs::msg::Point > &waypoints) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getRightOfWayEntities () const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	getRightOfWayEntities (const lanelet::Ids &following_lanelets) const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	getYieldStopDistance (const lanelet::Ids &following_lanelets) const -> std::optional< double >
auto	getOtherEntityStatus (lanelet::Id lanelet_id) const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	stopEntity () const -> void
auto	getHorizon () const -> double
auto	executeTick () -> BT::NodeStatus override
	throws if the derived class return RUNNING. More...
void	halt () override final
virtual auto	getBlackBoardValues () -> void
auto	getEntityStatus (const std::string &target_name) const -> const traffic_simulator::CanonicalizedEntityStatus &
auto	getDistanceToTargetEntityPolygon (const math::geometry::CatmullRomSplineInterface &spline, const std::string target_name, double width_extension_right=0.0, double width_extension_left=0.0, double length_extension_front=0.0, double length_extension_rear=0.0) const -> std::optional< double >
auto	setCanonicalizedEntityStatus (const traffic_simulator::EntityStatus &entity_status) -> void
auto	calculateUpdatedEntityStatus (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus
auto	calculateUpdatedEntityStatusInWorldFrame (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus

Static Public Member Functions
static BT::PortsList	providedPorts ()

Protected Attributes
traffic_simulator::behavior::Request	request
std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils
std::shared_ptr< traffic_simulator::TrafficLightsBase >	traffic_lights
std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus >	canonicalized_entity_status
double	current_time
double	step_time
double	default_matching_distance_for_lanelet_pose_calculation
std::optional< double >	target_speed
EntityStatusDict	other_entity_status
lanelet::Ids	route_lanelets

Constructor & Destructor Documentation

ActionNode()

entity_behavior::ActionNode::ActionNode	(	const std::string &	name,
		const BT::NodeConfiguration &	config
	)

~ActionNode()

entity_behavior::ActionNode::~ActionNode ( )

overridedefault

Member Function Documentation

calculateStopDistance()

auto entity_behavior::ActionNode::calculateStopDistance

(

const traffic_simulator_msgs::msg::DynamicConstraints &

constraints

)

const -> double

calculateUpdatedEntityStatus()

auto entity_behavior::ActionNode::calculateUpdatedEntityStatus	(	double	target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints
	)		const -> traffic_simulator::EntityStatus

calculateUpdatedEntityStatusInWorldFrame()

auto entity_behavior::ActionNode::calculateUpdatedEntityStatusInWorldFrame	(	double	target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints
	)		const -> traffic_simulator::EntityStatus

executeTick()

auto entity_behavior::ActionNode::executeTick ( ) -> BT::NodeStatus

override

throws if the derived class return RUNNING.

foundConflictingEntity()

auto entity_behavior::ActionNode::foundConflictingEntity

(

const lanelet::Ids &

following_lanelets

)

const -> bool

getBlackBoardValues()

auto entity_behavior::ActionNode::getBlackBoardValues ( ) -> void

virtual

Reimplemented in entity_behavior::VehicleActionNode, entity_behavior::vehicle::LaneChangeAction, entity_behavior::vehicle::follow_lane_sequence::MoveBackwardAction, entity_behavior::vehicle::follow_lane_sequence::FollowLaneAction, entity_behavior::pedestrian::WalkStraightAction, entity_behavior::PedestrianActionNode, and entity_behavior::pedestrian::FollowLaneAction.

getDistanceToConflictingEntity()

auto entity_behavior::ActionNode::getDistanceToConflictingEntity	(	const lanelet::Ids &	route_lanelets,
		const math::geometry::CatmullRomSplineInterface &	spline
	)		const -> std::optional<double>

getDistanceToFrontEntity()

auto entity_behavior::ActionNode::getDistanceToFrontEntity

(

const math::geometry::CatmullRomSplineInterface &

spline

)

const -> std::optional<double>

getDistanceToStopLine()

auto entity_behavior::ActionNode::getDistanceToStopLine	(	const lanelet::Ids &	route_lanelets,
		const std::vector< geometry_msgs::msg::Point > &	waypoints
	)		const -> std::optional<double>

getDistanceToTargetEntityPolygon()

auto entity_behavior::ActionNode::getDistanceToTargetEntityPolygon	(	const math::geometry::CatmullRomSplineInterface &	spline,
		const std::string	target_name,
		double	width_extension_right = 0.0,
		double	width_extension_left = 0.0,
		double	length_extension_front = 0.0,
		double	length_extension_rear = 0.0
	)		const -> std::optional<double>

getDistanceToTrafficLightStopLine()

auto entity_behavior::ActionNode::getDistanceToTrafficLightStopLine	(	const lanelet::Ids &	route_lanelets,
		const math::geometry::CatmullRomSplineInterface &	spline
	)		const -> std::optional<double>

getEntityStatus()

auto entity_behavior::ActionNode::getEntityStatus

(

const std::string &

target_name

)

const -> const traffic_simulator::CanonicalizedEntityStatus &

getFrontEntityName()

auto entity_behavior::ActionNode::getFrontEntityName

(

const math::geometry::CatmullRomSplineInterface &

spline

)

const -> std::optional<std::string>

Note

hard-coded parameter, if the Yaw value of RPY is in ~1.5708 -> 1.5708, entity is a candidate of front entity.

getHorizon()

auto entity_behavior::ActionNode::getHorizon

(

)

const -> double

getOtherEntityStatus()

auto entity_behavior::ActionNode::getOtherEntityStatus

(

lanelet::Id

lanelet_id

)

const -> std::vector<traffic_simulator::CanonicalizedEntityStatus>

getRightOfWayEntities() [1/2]

auto entity_behavior::ActionNode::getRightOfWayEntities

(

)

const -> std::vector<traffic_simulator::CanonicalizedEntityStatus>

getRightOfWayEntities() [2/2]

auto entity_behavior::ActionNode::getRightOfWayEntities

(

const lanelet::Ids &

following_lanelets

)

const -> std::vector<traffic_simulator::CanonicalizedEntityStatus>

getYieldStopDistance()

auto entity_behavior::ActionNode::getYieldStopDistance

(

const lanelet::Ids &

following_lanelets

)

const -> std::optional<double>

halt()

void entity_behavior::ActionNode::halt ( )

inlinefinaloverride

providedPorts()

static BT::PortsList entity_behavior::ActionNode::providedPorts ( )

inlinestatic

setCanonicalizedEntityStatus()

auto entity_behavior::ActionNode::setCanonicalizedEntityStatus

(

const traffic_simulator::EntityStatus &

entity_status

)

-> void

stopEntity()

auto entity_behavior::ActionNode::stopEntity

(

)

const -> void

Member Data Documentation

canonicalized_entity_status

std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> entity_behavior::ActionNode::canonicalized_entity_status

protected

current_time

double entity_behavior::ActionNode::current_time

protected

default_matching_distance_for_lanelet_pose_calculation

double entity_behavior::ActionNode::default_matching_distance_for_lanelet_pose_calculation

protected

hdmap_utils

std::shared_ptr<hdmap_utils::HdMapUtils> entity_behavior::ActionNode::hdmap_utils

protected

other_entity_status

EntityStatusDict entity_behavior::ActionNode::other_entity_status

protected

request

traffic_simulator::behavior::Request entity_behavior::ActionNode::request

protected

route_lanelets

lanelet::Ids entity_behavior::ActionNode::route_lanelets

protected

step_time

double entity_behavior::ActionNode::step_time

protected

target_speed

std::optional<double> entity_behavior::ActionNode::target_speed

protected

traffic_lights

std::shared_ptr<traffic_simulator::TrafficLightsBase> entity_behavior::ActionNode::traffic_lights

protected

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

• simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp
• simulation/behavior_tree_plugin/src/action_node.cpp