entity_behavior::VehicleActionNode Class Reference

#include <vehicle_action_node.hpp>

Inheritance diagram for entity_behavior::VehicleActionNode:

Collaboration diagram for entity_behavior::VehicleActionNode:

Public Member Functions
	VehicleActionNode (const std::string &name, const BT::NodeConfiguration &config)
	~VehicleActionNode () override=default
void	getBlackBoardValues () override
auto	calculateUpdatedEntityStatus (double target_speed) const -> traffic_simulator::EntityStatus
auto	calculateUpdatedEntityStatusInWorldFrame (double target_speed) const -> traffic_simulator::EntityStatus
virtual const traffic_simulator_msgs::msg::WaypointsArray	calculateWaypoints ()=0
virtual const std::optional< traffic_simulator_msgs::msg::Obstacle >	calculateObstacle (const traffic_simulator_msgs::msg::WaypointsArray &waypoints)=0
Public Member Functions inherited from entity_behavior::ActionNode
	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	executeTick () -> BT::NodeStatus override
	throws if the derived class return RUNNING. More...
void	halt () override final
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 ()
Static Public Member Functions inherited from entity_behavior::ActionNode
static BT::PortsList	providedPorts ()

Protected Attributes
traffic_simulator_msgs::msg::VehicleParameters	vehicle_parameters
std::shared_ptr< math::geometry::CatmullRomSpline >	reference_trajectory
std::unique_ptr< math::geometry::CatmullRomSubspline >	trajectory
Protected Attributes inherited from entity_behavior::ActionNode
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_

Additional Inherited Members
Protected Member Functions inherited from entity_behavior::ActionNode
virtual bool	checkPreconditions ()
virtual BT::NodeStatus	doAction ()=0
auto	getDistanceToTargetEntity (const math::geometry::CatmullRomSplineInterface &spline, const traffic_simulator::CanonicalizedEntityStatus &status) const -> std::optional< double >

Constructor & Destructor Documentation

VehicleActionNode()

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

~VehicleActionNode()

entity_behavior::VehicleActionNode::~VehicleActionNode ( )

overridedefault

Member Function Documentation

calculateObstacle()

virtual const std::optional<traffic_simulator_msgs::msg::Obstacle> entity_behavior::VehicleActionNode::calculateObstacle ( const traffic_simulator_msgs::msg::WaypointsArray &  waypoints )

pure virtual

Implemented in entity_behavior::vehicle::LaneChangeAction, 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, and entity_behavior::vehicle::FollowPolylineTrajectoryAction.

calculateUpdatedEntityStatus()

auto entity_behavior::VehicleActionNode::calculateUpdatedEntityStatus

(

double

target_speed

)

const -> traffic_simulator::EntityStatus

calculateUpdatedEntityStatusInWorldFrame()

auto entity_behavior::VehicleActionNode::calculateUpdatedEntityStatusInWorldFrame

(

double

target_speed

)

const -> traffic_simulator::EntityStatus

calculateWaypoints()

virtual const traffic_simulator_msgs::msg::WaypointsArray entity_behavior::VehicleActionNode::calculateWaypoints ( )

pure virtual

Implemented in entity_behavior::vehicle::LaneChangeAction, 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, and entity_behavior::vehicle::FollowPolylineTrajectoryAction.

getBlackBoardValues()

void entity_behavior::VehicleActionNode::getBlackBoardValues ( )

overridevirtual

Reimplemented from entity_behavior::ActionNode.

providedPorts()

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

inlinestatic

Member Data Documentation

reference_trajectory

std::shared_ptr<math::geometry::CatmullRomSpline> entity_behavior::VehicleActionNode::reference_trajectory

protected

trajectory

std::unique_ptr<math::geometry::CatmullRomSubspline> entity_behavior::VehicleActionNode::trajectory

protected

vehicle_parameters

traffic_simulator_msgs::msg::VehicleParameters entity_behavior::VehicleActionNode::vehicle_parameters

protected

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

• simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/vehicle_action_node.hpp
• simulation/behavior_tree_plugin/src/vehicle/vehicle_action_node.cpp