scenario_simulator_v2 C++ API
Public Member Functions | List of all members
entity_behavior::BehaviorPluginBase Class Referenceabstract

#include <behavior_plugin_base.hpp>

Inheritance diagram for entity_behavior::BehaviorPluginBase:
Inheritance graph
[legend]

Public Member Functions

virtual ~BehaviorPluginBase ()=default
 
virtual void configure (const rclcpp::Logger &logger)=0
 
virtual void update (double current_time, double step_time)=0
 
virtual const std::string & getCurrentAction () const =0
 
virtual traffic_simulator_msgs::msg::BehaviorParameter getBehaviorParameter ()=0
 
virtual void setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &value)=0
 
auto getBehaviorParameterKey () const -> const std::string &
 
virtual double getCurrentTime ()=0
 
virtual void setCurrentTime (const double &value)=0
 
auto getCurrentTimeKey () const -> const std::string &
 
virtual std::vector< visualization_msgs::msg::Marker > getDebugMarker ()=0
 
virtual void setDebugMarker (const std::vector< visualization_msgs::msg::Marker > &value)=0
 
auto getDebugMarkerKey () const -> const std::string &
 
virtual double getDefaultMatchingDistanceForLaneletPoseCalculation ()=0
 
virtual void setDefaultMatchingDistanceForLaneletPoseCalculation (const double &value)=0
 
auto getDefaultMatchingDistanceForLaneletPoseCalculationKey () const -> const std::string &
 
virtual std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > getEntityStatus ()=0
 
virtual void setEntityStatus (const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > &value)=0
 
auto getEntityStatusKey () const -> const std::string &
 
virtual std::vector< geometry_msgs::msg::Pose > getGoalPoses ()=0
 
virtual void setGoalPoses (const std::vector< geometry_msgs::msg::Pose > &value)=0
 
auto getGoalPosesKey () const -> const std::string &
 
virtual std::shared_ptr< hdmap_utils::HdMapUtils > getHdMapUtils ()=0
 
virtual void setHdMapUtils (const std::shared_ptr< hdmap_utils::HdMapUtils > &value)=0
 
auto getHdMapUtilsKey () const -> const std::string &
 
virtual traffic_simulator::lane_change::Parameter getLaneChangeParameters ()=0
 
virtual void setLaneChangeParameters (const traffic_simulator::lane_change::Parameter &value)=0
 
auto getLaneChangeParametersKey () const -> const std::string &
 
virtual std::optional< traffic_simulator_msgs::msg::Obstacle > getObstacle ()=0
 
virtual void setObstacle (const std::optional< traffic_simulator_msgs::msg::Obstacle > &value)=0
 
auto getObstacleKey () const -> const std::string &
 
virtual EntityStatusDict getOtherEntityStatus ()=0
 
virtual void setOtherEntityStatus (const EntityStatusDict &value)=0
 
auto getOtherEntityStatusKey () const -> const std::string &
 
virtual traffic_simulator_msgs::msg::PedestrianParameters getPedestrianParameters ()=0
 
virtual void setPedestrianParameters (const traffic_simulator_msgs::msg::PedestrianParameters &value)=0
 
auto getPedestrianParametersKey () const -> const std::string &
 
virtual std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > getPolylineTrajectory ()=0
 
virtual void setPolylineTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &value)=0
 
auto getPolylineTrajectoryKey () const -> const std::string &
 
virtual std::shared_ptr< math::geometry::CatmullRomSpline > getReferenceTrajectory ()=0
 
virtual void setReferenceTrajectory (const std::shared_ptr< math::geometry::CatmullRomSpline > &value)=0
 
auto getReferenceTrajectoryKey () const -> const std::string &
 
virtual traffic_simulator::behavior::Request getRequest ()=0
 
virtual void setRequest (const traffic_simulator::behavior::Request &value)=0
 
auto getRequestKey () const -> const std::string &
 
virtual lanelet::Ids getRouteLanelets ()=0
 
virtual void setRouteLanelets (const lanelet::Ids &value)=0
 
auto getRouteLaneletsKey () const -> const std::string &
 
virtual double getStepTime ()=0
 
virtual void setStepTime (const double &value)=0
 
auto getStepTimeKey () const -> const std::string &
 
virtual std::optional< double > getTargetSpeed ()=0
 
virtual void setTargetSpeed (const std::optional< double > &value)=0
 
auto getTargetSpeedKey () const -> const std::string &
 
virtual std::shared_ptr< traffic_simulator::TrafficLightManager > getTrafficLightManager ()=0
 
virtual void setTrafficLightManager (const std::shared_ptr< traffic_simulator::TrafficLightManager > &value)=0
 
auto getTrafficLightManagerKey () const -> const std::string &
 
virtual std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > getUpdatedStatus ()=0
 
virtual void setUpdatedStatus (const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > &value)=0
 
auto getUpdatedStatusKey () const -> const std::string &
 
virtual traffic_simulator_msgs::msg::VehicleParameters getVehicleParameters ()=0
 
virtual void setVehicleParameters (const traffic_simulator_msgs::msg::VehicleParameters &value)=0
 
auto getVehicleParametersKey () const -> const std::string &
 
virtual traffic_simulator_msgs::msg::WaypointsArray getWaypoints ()=0
 
virtual void setWaypoints (const traffic_simulator_msgs::msg::WaypointsArray &value)=0
 
auto getWaypointsKey () const -> const std::string &
 

Constructor & Destructor Documentation

◆ ~BehaviorPluginBase()

virtual entity_behavior::BehaviorPluginBase::~BehaviorPluginBase ( )
virtualdefault

Member Function Documentation

◆ configure()

virtual void entity_behavior::BehaviorPluginBase::configure ( const rclcpp::Logger &  logger)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getBehaviorParameter()

virtual traffic_simulator_msgs::msg::BehaviorParameter entity_behavior::BehaviorPluginBase::getBehaviorParameter ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::PedestrianBehaviorTree, and entity_behavior::VehicleBehaviorTree.

◆ getBehaviorParameterKey()

auto entity_behavior::BehaviorPluginBase::getBehaviorParameterKey ( ) const -> const std::string &
inline

◆ getCurrentAction()

virtual const std::string& entity_behavior::BehaviorPluginBase::getCurrentAction ( ) const
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getCurrentTime()

virtual double entity_behavior::BehaviorPluginBase::getCurrentTime ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getCurrentTimeKey()

auto entity_behavior::BehaviorPluginBase::getCurrentTimeKey ( ) const -> const std::string &
inline

◆ getDebugMarker()

virtual std::vector<visualization_msgs::msg::Marker> entity_behavior::BehaviorPluginBase::getDebugMarker ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getDebugMarkerKey()

auto entity_behavior::BehaviorPluginBase::getDebugMarkerKey ( ) const -> const std::string &
inline

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

virtual double entity_behavior::BehaviorPluginBase::getDefaultMatchingDistanceForLaneletPoseCalculation ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getDefaultMatchingDistanceForLaneletPoseCalculationKey()

auto entity_behavior::BehaviorPluginBase::getDefaultMatchingDistanceForLaneletPoseCalculationKey ( ) const -> const std::string &
inline

◆ getEntityStatus()

virtual std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> entity_behavior::BehaviorPluginBase::getEntityStatus ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getEntityStatusKey()

auto entity_behavior::BehaviorPluginBase::getEntityStatusKey ( ) const -> const std::string &
inline

◆ getGoalPoses()

virtual std::vector<geometry_msgs::msg::Pose> entity_behavior::BehaviorPluginBase::getGoalPoses ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getGoalPosesKey()

auto entity_behavior::BehaviorPluginBase::getGoalPosesKey ( ) const -> const std::string &
inline

◆ getHdMapUtils()

virtual std::shared_ptr<hdmap_utils::HdMapUtils> entity_behavior::BehaviorPluginBase::getHdMapUtils ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getHdMapUtilsKey()

auto entity_behavior::BehaviorPluginBase::getHdMapUtilsKey ( ) const -> const std::string &
inline

◆ getLaneChangeParameters()

virtual traffic_simulator::lane_change::Parameter entity_behavior::BehaviorPluginBase::getLaneChangeParameters ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getLaneChangeParametersKey()

auto entity_behavior::BehaviorPluginBase::getLaneChangeParametersKey ( ) const -> const std::string &
inline

◆ getObstacle()

virtual std::optional<traffic_simulator_msgs::msg::Obstacle> entity_behavior::BehaviorPluginBase::getObstacle ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getObstacleKey()

auto entity_behavior::BehaviorPluginBase::getObstacleKey ( ) const -> const std::string &
inline

◆ getOtherEntityStatus()

virtual EntityStatusDict entity_behavior::BehaviorPluginBase::getOtherEntityStatus ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getOtherEntityStatusKey()

auto entity_behavior::BehaviorPluginBase::getOtherEntityStatusKey ( ) const -> const std::string &
inline

◆ getPedestrianParameters()

virtual traffic_simulator_msgs::msg::PedestrianParameters entity_behavior::BehaviorPluginBase::getPedestrianParameters ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getPedestrianParametersKey()

auto entity_behavior::BehaviorPluginBase::getPedestrianParametersKey ( ) const -> const std::string &
inline

◆ getPolylineTrajectory()

virtual std::shared_ptr<traffic_simulator_msgs::msg::PolylineTrajectory> entity_behavior::BehaviorPluginBase::getPolylineTrajectory ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getPolylineTrajectoryKey()

auto entity_behavior::BehaviorPluginBase::getPolylineTrajectoryKey ( ) const -> const std::string &
inline

◆ getReferenceTrajectory()

virtual std::shared_ptr<math::geometry::CatmullRomSpline> entity_behavior::BehaviorPluginBase::getReferenceTrajectory ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getReferenceTrajectoryKey()

auto entity_behavior::BehaviorPluginBase::getReferenceTrajectoryKey ( ) const -> const std::string &
inline

◆ getRequest()

virtual traffic_simulator::behavior::Request entity_behavior::BehaviorPluginBase::getRequest ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getRequestKey()

auto entity_behavior::BehaviorPluginBase::getRequestKey ( ) const -> const std::string &
inline

◆ getRouteLanelets()

virtual lanelet::Ids entity_behavior::BehaviorPluginBase::getRouteLanelets ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getRouteLaneletsKey()

auto entity_behavior::BehaviorPluginBase::getRouteLaneletsKey ( ) const -> const std::string &
inline

◆ getStepTime()

virtual double entity_behavior::BehaviorPluginBase::getStepTime ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getStepTimeKey()

auto entity_behavior::BehaviorPluginBase::getStepTimeKey ( ) const -> const std::string &
inline

◆ getTargetSpeed()

virtual std::optional<double> entity_behavior::BehaviorPluginBase::getTargetSpeed ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getTargetSpeedKey()

auto entity_behavior::BehaviorPluginBase::getTargetSpeedKey ( ) const -> const std::string &
inline

◆ getTrafficLightManager()

virtual std::shared_ptr<traffic_simulator::TrafficLightManager> entity_behavior::BehaviorPluginBase::getTrafficLightManager ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getTrafficLightManagerKey()

auto entity_behavior::BehaviorPluginBase::getTrafficLightManagerKey ( ) const -> const std::string &
inline

◆ getUpdatedStatus()

virtual std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> entity_behavior::BehaviorPluginBase::getUpdatedStatus ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getUpdatedStatusKey()

auto entity_behavior::BehaviorPluginBase::getUpdatedStatusKey ( ) const -> const std::string &
inline

◆ getVehicleParameters()

virtual traffic_simulator_msgs::msg::VehicleParameters entity_behavior::BehaviorPluginBase::getVehicleParameters ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getVehicleParametersKey()

auto entity_behavior::BehaviorPluginBase::getVehicleParametersKey ( ) const -> const std::string &
inline

◆ getWaypoints()

virtual traffic_simulator_msgs::msg::WaypointsArray entity_behavior::BehaviorPluginBase::getWaypoints ( )
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ getWaypointsKey()

auto entity_behavior::BehaviorPluginBase::getWaypointsKey ( ) const -> const std::string &
inline

◆ setBehaviorParameter()

virtual void entity_behavior::BehaviorPluginBase::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::PedestrianBehaviorTree, and entity_behavior::VehicleBehaviorTree.

◆ setCurrentTime()

virtual void entity_behavior::BehaviorPluginBase::setCurrentTime ( const double &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setDebugMarker()

virtual void entity_behavior::BehaviorPluginBase::setDebugMarker ( const std::vector< visualization_msgs::msg::Marker > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setDefaultMatchingDistanceForLaneletPoseCalculation()

virtual void entity_behavior::BehaviorPluginBase::setDefaultMatchingDistanceForLaneletPoseCalculation ( const double &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setEntityStatus()

virtual void entity_behavior::BehaviorPluginBase::setEntityStatus ( const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setGoalPoses()

virtual void entity_behavior::BehaviorPluginBase::setGoalPoses ( const std::vector< geometry_msgs::msg::Pose > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setHdMapUtils()

virtual void entity_behavior::BehaviorPluginBase::setHdMapUtils ( const std::shared_ptr< hdmap_utils::HdMapUtils > &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setLaneChangeParameters()

virtual void entity_behavior::BehaviorPluginBase::setLaneChangeParameters ( const traffic_simulator::lane_change::Parameter &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setObstacle()

virtual void entity_behavior::BehaviorPluginBase::setObstacle ( const std::optional< traffic_simulator_msgs::msg::Obstacle > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setOtherEntityStatus()

virtual void entity_behavior::BehaviorPluginBase::setOtherEntityStatus ( const EntityStatusDict &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setPedestrianParameters()

virtual void entity_behavior::BehaviorPluginBase::setPedestrianParameters ( const traffic_simulator_msgs::msg::PedestrianParameters &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setPolylineTrajectory()

virtual void entity_behavior::BehaviorPluginBase::setPolylineTrajectory ( const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setReferenceTrajectory()

virtual void entity_behavior::BehaviorPluginBase::setReferenceTrajectory ( const std::shared_ptr< math::geometry::CatmullRomSpline > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setRequest()

virtual void entity_behavior::BehaviorPluginBase::setRequest ( const traffic_simulator::behavior::Request &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setRouteLanelets()

virtual void entity_behavior::BehaviorPluginBase::setRouteLanelets ( const lanelet::Ids &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setStepTime()

virtual void entity_behavior::BehaviorPluginBase::setStepTime ( const double &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setTargetSpeed()

virtual void entity_behavior::BehaviorPluginBase::setTargetSpeed ( const std::optional< double > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setTrafficLightManager()

virtual void entity_behavior::BehaviorPluginBase::setTrafficLightManager ( const std::shared_ptr< traffic_simulator::TrafficLightManager > &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setUpdatedStatus()

virtual void entity_behavior::BehaviorPluginBase::setUpdatedStatus ( const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > &  value)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

◆ setVehicleParameters()

virtual void entity_behavior::BehaviorPluginBase::setVehicleParameters ( const traffic_simulator_msgs::msg::VehicleParameters &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ setWaypoints()

virtual void entity_behavior::BehaviorPluginBase::setWaypoints ( const traffic_simulator_msgs::msg::WaypointsArray &  value)
pure virtual

Implemented in entity_behavior::VehicleBehaviorTree, entity_behavior::PedestrianBehaviorTree, and entity_behavior::DoNothingBehavior.

◆ update()

virtual void entity_behavior::BehaviorPluginBase::update ( double  current_time,
double  step_time 
)
pure virtual

Implemented in entity_behavior::DoNothingBehavior, entity_behavior::VehicleBehaviorTree, and entity_behavior::PedestrianBehaviorTree.

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