entity_behavior::vehicle::LaneChangeAction Class Reference

#include <lane_change_action.hpp>

Inheritance diagram for entity_behavior::vehicle::LaneChangeAction:

Collaboration diagram for entity_behavior::vehicle::LaneChangeAction:

Public Member Functions
	LaneChangeAction (const std::string &name, const BT::NodeConfiguration &config)
BT::NodeStatus	tick () override
const traffic_simulator_msgs::msg::WaypointsArray	calculateWaypoints () override
const std::optional< traffic_simulator_msgs::msg::Obstacle >	calculateObstacle (const traffic_simulator_msgs::msg::WaypointsArray &waypoints) override
void	getBlackBoardValues () override
Public Member Functions inherited from entity_behavior::VehicleActionNode
	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
Public Member Functions inherited from entity_behavior::ActionNode
	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
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 ()
Static Public Member Functions inherited from entity_behavior::VehicleActionNode
static BT::PortsList	providedPorts ()
Static Public Member Functions inherited from entity_behavior::ActionNode
static BT::PortsList	providedPorts ()

Additional Inherited Members
Protected Attributes inherited from entity_behavior::VehicleActionNode
traffic_simulator_msgs::msg::BehaviorParameter	behavior_parameter
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

Constructor & Destructor Documentation

LaneChangeAction()

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

Member Function Documentation

calculateObstacle()

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

overridevirtual

Implements entity_behavior::VehicleActionNode.

calculateWaypoints()

const traffic_simulator_msgs::msg::WaypointsArray entity_behavior::vehicle::LaneChangeAction::calculateWaypoints ( )

overridevirtual

Implements entity_behavior::VehicleActionNode.

getBlackBoardValues()

void entity_behavior::vehicle::LaneChangeAction::getBlackBoardValues ( )

overridevirtual

Reimplemented from entity_behavior::ActionNode.

providedPorts()

static BT::PortsList entity_behavior::vehicle::LaneChangeAction::providedPorts ( )

inlinestatic

tick()

BT::NodeStatus entity_behavior::vehicle::LaneChangeAction::tick ( )

override

Note

Hard coded parameter, 10.0 is a maximum_curvature_threshold (If the curvature of the trajectory is over 10.0, the trajectory was not selected.) 20.0 is a target_trajectory_length (The one with the closest length to 20 m is selected from the candidate trajectories.) 1.0 is a forward_distance_threshold (If the goal x position in the cartesian coordinate was under 1.0, the goal was rejected.)

Force changing speed in order to fulfill constraint.

Changing linear speed and try to fulfill constraint.

Note

Hard coded parameter, -10.0 is a minimum linear velocity of the entity.

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

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