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	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	getFrontEntityNameAndDistanceByTrajectory (const std::vector< geometry_msgs::msg::Point > &waypoints, const double width, const std::size_t num_segments) const -> std::optional< std::pair< std::string, 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	stopEntity () const -> void
auto	getHorizon () const -> double
auto	getOtherEntitiesCanonicalizedLaneletPoses () const -> std::vector< traffic_simulator::CanonicalizedLaneletPose >
auto	getOtherEntitiesCanonicalizedEntityStatuses () const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
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	setCanonicalizedEntityStatus (const traffic_simulator::EntityStatus &entity_status) -> void
auto	calculateUpdatedEntityStatus (const double local_target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus
auto	calculateUpdatedEntityStatusInWorldFrame (const double local_target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus

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

Protected Member Functions
virtual bool	checkPreconditions ()
virtual BT::NodeStatus	doAction ()=0

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_
traffic_simulator_msgs::msg::BehaviorParameter	behavior_parameter_
std::optional< double >	lateral_collision_threshold_

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	(	const double	local_target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints
	)		const -> traffic_simulator::EntityStatus

Todo:

it will be moved to route::moveAlongLaneletPose(...)

calculateUpdatedEntityStatusInWorldFrame()

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

Note

Apply yaw change (delta rotation) in radians: yaw_angular_speed (rad/s) * time_step (s)

Apply position change

Todo:

first determine global desired_velocity, calculate position change using it then pass the same global desired_velocity to updatePositionForLaneletTransition()

Note

If it is the transition between lanelets: overwrite position to improve precision

Handle lanelet transition

checkPreconditions()

virtual bool entity_behavior::ActionNode::checkPreconditions ( )

inlineprotectedvirtual

Reimplemented in entity_behavior::vehicle::LaneChangeAction, entity_behavior::vehicle::FollowPolylineTrajectoryAction, entity_behavior::vehicle::follow_lane_sequence::YieldAction, entity_behavior::vehicle::follow_lane_sequence::StopAtTrafficLightAction, entity_behavior::vehicle::follow_lane_sequence::StopAtStopLineAction, entity_behavior::vehicle::follow_lane_sequence::StopAtCrossingEntityAction, entity_behavior::vehicle::follow_lane_sequence::MoveBackwardAction, entity_behavior::vehicle::follow_lane_sequence::FollowLaneAction, entity_behavior::vehicle::follow_lane_sequence::FollowFrontEntityAction, entity_behavior::pedestrian::WalkStraightAction, entity_behavior::pedestrian::FollowPolylineTrajectoryAction, and entity_behavior::pedestrian::FollowLaneAction.

doAction()

virtual BT::NodeStatus entity_behavior::ActionNode::doAction ( )

protectedpure virtual

Implemented in entity_behavior::vehicle::LaneChangeAction, entity_behavior::vehicle::FollowPolylineTrajectoryAction, entity_behavior::vehicle::follow_lane_sequence::YieldAction, entity_behavior::vehicle::follow_lane_sequence::StopAtTrafficLightAction, entity_behavior::vehicle::follow_lane_sequence::StopAtStopLineAction, entity_behavior::vehicle::follow_lane_sequence::StopAtCrossingEntityAction, entity_behavior::vehicle::follow_lane_sequence::MoveBackwardAction, entity_behavior::vehicle::follow_lane_sequence::FollowLaneAction, entity_behavior::vehicle::follow_lane_sequence::FollowFrontEntityAction, entity_behavior::pedestrian::WalkStraightAction, entity_behavior::pedestrian::FollowPolylineTrajectoryAction, and entity_behavior::pedestrian::FollowLaneAction.

executeTick()

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

override

throws if the derived class return RUNNING.

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>

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.

Euclidean distance is here used as a "rough" distance to filter only NPCs which possibly are in range of current horizon. Because euclidean distance is the shortest possible distance comparing it with horizon will never omit NPCs for which actual lane distance is in range of horizon.

getFrontEntityNameAndDistanceByTrajectory()

auto entity_behavior::ActionNode::getFrontEntityNameAndDistanceByTrajectory	(	const std::vector< geometry_msgs::msg::Point > &	waypoints,
		const double	width,
		const std::size_t	num_segments
	)		const -> std::optional<std::pair<std::string, double>>

getHorizon()

auto entity_behavior::ActionNode::getHorizon

(

)

const -> double

getOtherEntitiesCanonicalizedEntityStatuses()

auto entity_behavior::ActionNode::getOtherEntitiesCanonicalizedEntityStatuses

(

)

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

getOtherEntitiesCanonicalizedLaneletPoses()

auto entity_behavior::ActionNode::getOtherEntitiesCanonicalizedLaneletPoses

(

)

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

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

behavior_parameter_

traffic_simulator_msgs::msg::BehaviorParameter entity_behavior::ActionNode::behavior_parameter_

protected

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

lateral_collision_threshold_

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

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