#include <behavior_tree.hpp>

Inheritance diagram for entity_behavior::VehicleBehaviorTree:

Collaboration diagram for entity_behavior::VehicleBehaviorTree:

Public Member Functions
auto	update (const double current_time, const double step_time) -> void override

void	configure (const rclcpp::Logger &logger) override

auto	getCurrentAction () -> const std::string &override

auto	getBehaviorParameter () -> traffic_simulator_msgs::msg::BehaviorParameter override

auto	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &) -> void override

std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus >	getCanonicalizedEntityStatus () override

void	setCanonicalizedEntityStatus (const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > &value) override

double	getCurrentTime () override

void	setCurrentTime (const double &value) override

std::vector< visualization_msgs::msg::Marker >	getDebugMarker () override

void	setDebugMarker (const std::vector< visualization_msgs::msg::Marker > &value) override

double	getDefaultMatchingDistanceForLaneletPoseCalculation () override

void	setDefaultMatchingDistanceForLaneletPoseCalculation (const double &value) override

std::shared_ptr< EuclideanDistancesMap >	getEuclideanDistancesMap () override

void	setEuclideanDistancesMap (const std::shared_ptr< EuclideanDistancesMap > &value) override

std::vector< geometry_msgs::msg::Pose >	getGoalPoses () override

void	setGoalPoses (const std::vector< geometry_msgs::msg::Pose > &value) override

std::shared_ptr< hdmap_utils::HdMapUtils >	getHdMapUtils () override

void	setHdMapUtils (const std::shared_ptr< hdmap_utils::HdMapUtils > &value) override

traffic_simulator::lane_change::Parameter	getLaneChangeParameters () override

void	setLaneChangeParameters (const traffic_simulator::lane_change::Parameter &value) override

std::optional< double >	getLateralCollisionThreshold () override

void	setLateralCollisionThreshold (const std::optional< double > &value) override

std::optional< traffic_simulator_msgs::msg::Obstacle >	getObstacle () override

void	setObstacle (const std::optional< traffic_simulator_msgs::msg::Obstacle > &value) override

EntityStatusDict	getOtherEntityStatus () override

void	setOtherEntityStatus (const EntityStatusDict &value) override

traffic_simulator_msgs::msg::PedestrianParameters	getPedestrianParameters () override

void	setPedestrianParameters (const traffic_simulator_msgs::msg::PedestrianParameters &value) override

std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory >	getPolylineTrajectory () override

void	setPolylineTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &value) override

std::shared_ptr< math::geometry::CatmullRomSpline >	getReferenceTrajectory () override

void	setReferenceTrajectory (const std::shared_ptr< math::geometry::CatmullRomSpline > &value) override

traffic_simulator::behavior::Request	getRequest () override

void	setRequest (const traffic_simulator::behavior::Request &value) override

lanelet::Ids	getRouteLanelets () override

void	setRouteLanelets (const lanelet::Ids &value) override

double	getStepTime () override

void	setStepTime (const double &value) override

std::optional< double >	getTargetSpeed () override

void	setTargetSpeed (const std::optional< double > &value) override

std::shared_ptr< traffic_simulator::TrafficLightsBase >	getTrafficLights () override

void	setTrafficLights (const std::shared_ptr< traffic_simulator::TrafficLightsBase > &value) override

traffic_simulator_msgs::msg::VehicleParameters	getVehicleParameters () override

void	setVehicleParameters (const traffic_simulator_msgs::msg::VehicleParameters &value) override

traffic_simulator_msgs::msg::WaypointsArray	getWaypoints () override

void	setWaypoints (const traffic_simulator_msgs::msg::WaypointsArray &value) override

Public Member Functions inherited from entity_behavior::BehaviorPluginBase
virtual	~BehaviorPluginBase ()=default

auto	getBehaviorParameterKey () const -> const std::string &

auto	getCanonicalizedEntityStatusKey () const -> const std::string &

auto	getCurrentTimeKey () const -> const std::string &

auto	getDebugMarkerKey () const -> const std::string &

auto	getDefaultMatchingDistanceForLaneletPoseCalculationKey () const -> const std::string &

auto	getEuclideanDistancesMapKey () const -> const std::string &

auto	getGoalPosesKey () const -> const std::string &

auto	getHdMapUtilsKey () const -> const std::string &

auto	getLaneChangeParametersKey () const -> const std::string &

auto	getLateralCollisionThresholdKey () const -> const std::string &

auto	getObstacleKey () const -> const std::string &

auto	getOtherEntityStatusKey () const -> const std::string &

auto	getPedestrianParametersKey () const -> const std::string &

auto	getPolylineTrajectoryKey () const -> const std::string &

auto	getReferenceTrajectoryKey () const -> const std::string &

auto	getRequestKey () const -> const std::string &

auto	getRouteLaneletsKey () const -> const std::string &

auto	getStepTimeKey () const -> const std::string &

auto	getTargetSpeedKey () const -> const std::string &

auto	getTrafficLightsKey () const -> const std::string &

auto	getVehicleParametersKey () const -> const std::string &

auto	getWaypointsKey () const -> const std::string &

Member Function Documentation

◆ configure()

void entity_behavior::VehicleBehaviorTree::configure ( const rclcpp::Logger & logger )

overridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getBehaviorParameter()

auto entity_behavior::VehicleBehaviorTree::getBehaviorParameter ( ) -> traffic_simulator_msgs::msg::BehaviorParameter

overridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getCanonicalizedEntityStatus()

std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus> entity_behavior::VehicleBehaviorTree::getCanonicalizedEntityStatus ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getCurrentAction()

auto entity_behavior::VehicleBehaviorTree::getCurrentAction ( ) -> const std::string &

overridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getCurrentTime()

double entity_behavior::VehicleBehaviorTree::getCurrentTime ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getDebugMarker()

std::vector<visualization_msgs::msg::Marker> entity_behavior::VehicleBehaviorTree::getDebugMarker ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

double entity_behavior::VehicleBehaviorTree::getDefaultMatchingDistanceForLaneletPoseCalculation ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getEuclideanDistancesMap()

std::shared_ptr<EuclideanDistancesMap> entity_behavior::VehicleBehaviorTree::getEuclideanDistancesMap ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getGoalPoses()

std::vector<geometry_msgs::msg::Pose> entity_behavior::VehicleBehaviorTree::getGoalPoses ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getHdMapUtils()

std::shared_ptr<hdmap_utils::HdMapUtils> entity_behavior::VehicleBehaviorTree::getHdMapUtils ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getLaneChangeParameters()

traffic_simulator::lane_change::Parameter entity_behavior::VehicleBehaviorTree::getLaneChangeParameters ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getLateralCollisionThreshold()

std::optional<double> entity_behavior::VehicleBehaviorTree::getLateralCollisionThreshold ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getObstacle()

std::optional<traffic_simulator_msgs::msg::Obstacle> entity_behavior::VehicleBehaviorTree::getObstacle ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getOtherEntityStatus()

EntityStatusDict entity_behavior::VehicleBehaviorTree::getOtherEntityStatus ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getPedestrianParameters()

traffic_simulator_msgs::msg::PedestrianParameters entity_behavior::VehicleBehaviorTree::getPedestrianParameters ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getPolylineTrajectory()

std::shared_ptr<traffic_simulator_msgs::msg::PolylineTrajectory> entity_behavior::VehicleBehaviorTree::getPolylineTrajectory ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getReferenceTrajectory()

std::shared_ptr<math::geometry::CatmullRomSpline> entity_behavior::VehicleBehaviorTree::getReferenceTrajectory ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getRequest()

traffic_simulator::behavior::Request entity_behavior::VehicleBehaviorTree::getRequest ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getRouteLanelets()

lanelet::Ids entity_behavior::VehicleBehaviorTree::getRouteLanelets ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getStepTime()

double entity_behavior::VehicleBehaviorTree::getStepTime ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getTargetSpeed()

std::optional<double> entity_behavior::VehicleBehaviorTree::getTargetSpeed ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getTrafficLights()

std::shared_ptr<traffic_simulator::TrafficLightsBase> entity_behavior::VehicleBehaviorTree::getTrafficLights ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getVehicleParameters()

traffic_simulator_msgs::msg::VehicleParameters entity_behavior::VehicleBehaviorTree::getVehicleParameters ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ getWaypoints()

traffic_simulator_msgs::msg::WaypointsArray entity_behavior::VehicleBehaviorTree::getWaypoints ( )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setBehaviorParameter()

auto entity_behavior::VehicleBehaviorTree::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter ) -> void

overridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setCanonicalizedEntityStatus()

void entity_behavior::VehicleBehaviorTree::setCanonicalizedEntityStatus ( const std::shared_ptr< traffic_simulator::CanonicalizedEntityStatus > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setCurrentTime()

void entity_behavior::VehicleBehaviorTree::setCurrentTime ( const double & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setDebugMarker()

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

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setDefaultMatchingDistanceForLaneletPoseCalculation()

void entity_behavior::VehicleBehaviorTree::setDefaultMatchingDistanceForLaneletPoseCalculation ( const double & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setEuclideanDistancesMap()

void entity_behavior::VehicleBehaviorTree::setEuclideanDistancesMap ( const std::shared_ptr< EuclideanDistancesMap > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setGoalPoses()

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

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setHdMapUtils()

void entity_behavior::VehicleBehaviorTree::setHdMapUtils ( const std::shared_ptr< hdmap_utils::HdMapUtils > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setLaneChangeParameters()

void entity_behavior::VehicleBehaviorTree::setLaneChangeParameters ( const traffic_simulator::lane_change::Parameter & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setLateralCollisionThreshold()

void entity_behavior::VehicleBehaviorTree::setLateralCollisionThreshold ( const std::optional< double > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setObstacle()

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

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setOtherEntityStatus()

void entity_behavior::VehicleBehaviorTree::setOtherEntityStatus ( const EntityStatusDict & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setPedestrianParameters()

void entity_behavior::VehicleBehaviorTree::setPedestrianParameters ( const traffic_simulator_msgs::msg::PedestrianParameters & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setPolylineTrajectory()

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

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setReferenceTrajectory()

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

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setRequest()

void entity_behavior::VehicleBehaviorTree::setRequest ( const traffic_simulator::behavior::Request & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setRouteLanelets()

void entity_behavior::VehicleBehaviorTree::setRouteLanelets ( const lanelet::Ids & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setStepTime()

void entity_behavior::VehicleBehaviorTree::setStepTime ( const double & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setTargetSpeed()

void entity_behavior::VehicleBehaviorTree::setTargetSpeed ( const std::optional< double > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setTrafficLights()

void entity_behavior::VehicleBehaviorTree::setTrafficLights ( const std::shared_ptr< traffic_simulator::TrafficLightsBase > & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setVehicleParameters()

void entity_behavior::VehicleBehaviorTree::setVehicleParameters ( const traffic_simulator_msgs::msg::VehicleParameters & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ setWaypoints()

void entity_behavior::VehicleBehaviorTree::setWaypoints ( const traffic_simulator_msgs::msg::WaypointsArray & value )

inlineoverridevirtual

Implements entity_behavior::BehaviorPluginBase.

◆ update()

auto entity_behavior::VehicleBehaviorTree::update	(	const double	current_time,
		const double	step_time
	)		-> void

overridevirtual

Implements entity_behavior::BehaviorPluginBase.

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

simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/behavior_tree.hpp
simulation/behavior_tree_plugin/src/vehicle/behavior_tree.cpp

Public Member Functions

Member Function Documentation

◆ configure()

◆ getBehaviorParameter()

◆ getCanonicalizedEntityStatus()

◆ getCurrentAction()

◆ getCurrentTime()

◆ getDebugMarker()

◆ getDefaultMatchingDistanceForLaneletPoseCalculation()

◆ getEuclideanDistancesMap()

◆ getGoalPoses()

◆ getHdMapUtils()

◆ getLaneChangeParameters()

◆ getLateralCollisionThreshold()

◆ getObstacle()

◆ getOtherEntityStatus()

◆ getPedestrianParameters()

◆ getPolylineTrajectory()

◆ getReferenceTrajectory()

◆ getRequest()

◆ getRouteLanelets()

◆ getStepTime()

◆ getTargetSpeed()

◆ getTrafficLights()

◆ getVehicleParameters()

◆ getWaypoints()

◆ setBehaviorParameter()

◆ setCanonicalizedEntityStatus()

◆ setCurrentTime()

◆ setDebugMarker()

◆ setDefaultMatchingDistanceForLaneletPoseCalculation()

◆ setEuclideanDistancesMap()

◆ setGoalPoses()

◆ setHdMapUtils()

◆ setLaneChangeParameters()

◆ setLateralCollisionThreshold()

◆ setObstacle()

◆ setOtherEntityStatus()

◆ setPedestrianParameters()

◆ setPolylineTrajectory()

◆ setReferenceTrajectory()

◆ setRequest()

◆ setRouteLanelets()

◆ setStepTime()

◆ setTargetSpeed()

◆ setTrafficLights()

◆ setVehicleParameters()

◆ setWaypoints()

◆ update()