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)
bool	checkPreconditions () override
BT::NodeStatus	doAction () 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	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	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
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::VehicleActionNode
static BT::PortsList	providedPorts ()
Static Public Member Functions inherited from entity_behavior::ActionNode
static BT::PortsList	providedPorts ()

Additional Inherited Members
Protected Member Functions inherited from entity_behavior::ActionNode
auto	tick () -> BT::NodeStatus override
Protected Attributes inherited from entity_behavior::VehicleActionNode
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< 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_
std::shared_ptr< EuclideanDistancesMap >	euclidean_distances_map_

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.

checkPreconditions()

bool entity_behavior::vehicle::LaneChangeAction::checkPreconditions ( )

overridevirtual

Reimplemented from entity_behavior::ActionNode.

doAction()

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

overridevirtual

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.

Implements entity_behavior::ActionNode.

getBlackBoardValues()

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

overridevirtual

Reimplemented from entity_behavior::ActionNode.

providedPorts()

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

inlinestatic

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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