#include <ego_entity.hpp>

Inheritance diagram for traffic_simulator::entity::EgoEntity:

Collaboration diagram for traffic_simulator::entity::EgoEntity:

Public Member Functions
	EgoEntity ()=delete

	EgoEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::VehicleParameters &, const Configuration &, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &)

	EgoEntity (EgoEntity &&)=delete

	EgoEntity (const EgoEntity &)=delete

	~EgoEntity () override=default

auto	operator= (EgoEntity &&) -> EgoEntity &=delete

auto	operator= (const EgoEntity &) -> EgoEntity &=delete

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

auto	getCurrentPose () const -> const geometry_msgs::msg::Pose &

auto	getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &override

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

auto	getEntityStatus (const double, const double) const -> const CanonicalizedEntityStatus

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

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

auto	getRouteLanelets (double horizon=100) -> lanelet::Ids override

auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override

auto	updateFieldOperatorApplication () -> void

void	onUpdate (double current_time, double step_time) override

void	requestAcquirePosition (const CanonicalizedLaneletPose &) override

void	requestAcquirePosition (const geometry_msgs::msg::Pose &map_pose) override

void	requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &) override

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

auto	requestFollowTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &) -> void override

auto	requestLaneChange (const lanelet::Id) -> void override

auto	requestLaneChange (const lane_change::Parameter &) -> void override

auto	requestSpeedChange (const double, const speed_change::Transition, const speed_change::Constraint, const bool continuous) -> void override

auto	requestSpeedChange (const speed_change::RelativeTargetSpeed &, const speed_change::Transition, const speed_change::Constraint, const bool continuous) -> void override

auto	requestClearRoute () -> void

auto	requestReplanRoute (const std::vector< geometry_msgs::msg::PoseStamped > &route) -> void

auto	requestAutoModeForCooperation (const std::string &module_name, bool enable) -> void

auto	isControlledBySimulator () const -> bool override

auto	setControlledBySimulator (bool state) -> void override

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

void	requestSpeedChange (double, bool continuous) override

void	requestSpeedChange (const speed_change::RelativeTargetSpeed &target_speed, bool continuous) override

auto	setVelocityLimit (double) -> void override

auto	setMapPose (const geometry_msgs::msg::Pose &map_pose) -> void override

template<typename ParameterType >
auto	setParameter (const std::string &name, const ParameterType &default_value={}) -> ParameterType

template<typename... Ts>
auto	setStatus (Ts &&... xs) -> void

auto	engage () -> void

auto	isEngaged () const -> bool

auto	isEngageable () const -> bool

auto	sendCooperateCommand (const std::string &module_name, const std::string &command) -> void

auto	getMinimumRiskManeuverBehaviorName () const -> std::string

auto	getMinimumRiskManeuverStateName () const -> std::string

auto	getEmergencyStateName () const -> std::string

auto	getTurnIndicatorsCommandName () const -> std::string

Public Member Functions inherited from traffic_simulator::entity::VehicleEntity
	VehicleEntity (const std::string &name, const CanonicalizedEntityStatus &, const std::shared_ptr< hdmap_utils::HdMapUtils > &, const traffic_simulator_msgs::msg::VehicleParameters &, const std::string &plugin_name=BuiltinBehavior::defaultBehavior())

	~VehicleEntity () override=default

void	appendDebugMarker (visualization_msgs::msg::MarkerArray &marker_array) override

void	cancelRequest () override

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

auto	getDefaultDynamicConstraints () const -> const traffic_simulator_msgs::msg::DynamicConstraints &override

auto	getDefaultMatchingDistanceForLaneletPoseCalculation () const -> double override

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

auto	getMaxAcceleration () const -> double override

auto	getMaxDeceleration () const -> double override

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

auto	getGoalPoses () -> std::vector< CanonicalizedLaneletPose > override

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

auto	getRouteLanelets (double horizon=100) -> lanelet::Ids override

auto	getWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override

auto	onUpdate (const double current_time, const double step_time) -> void override

void	requestAcquirePosition (const CanonicalizedLaneletPose &)

void	requestAcquirePosition (const geometry_msgs::msg::Pose &map_pose) override

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

void	requestAssignRoute (const std::vector< CanonicalizedLaneletPose > &) override

auto	requestFollowTrajectory (const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &) -> void override

auto	requestLaneChange (const lanelet::Id to_lanelet_id) -> void override

auto	requestLaneChange (const traffic_simulator::lane_change::Parameter &) -> void override

void	setVelocityLimit (double linear_velocity) override

void	setAccelerationLimit (double acceleration) override

void	setAccelerationRateLimit (double acceleration_rate) override

void	setDecelerationLimit (double deceleration) override

void	setDecelerationRateLimit (double deceleration_rate) override

void	setBehaviorParameter (const traffic_simulator_msgs::msg::BehaviorParameter &) override

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

Public Member Functions inherited from traffic_simulator::entity::EntityBase
	EntityBase (const std::string &name, const CanonicalizedEntityStatus &entity_status, const std::shared_ptr< hdmap_utils::HdMapUtils > &hdmap_utils_ptr)

	EntityBase (const EntityBase &)=delete

EntityBase &	operator= (const EntityBase &)=delete

	EntityBase (EntityBase &&) noexcept=delete

EntityBase &	operator= (EntityBase &&) noexcept=delete

virtual	~EntityBase ()=default

template<typename EntityType >
auto	is () const -> bool

auto	getBoundingBox () const noexcept -> const traffic_simulator_msgs::msg::BoundingBox &
	Get BoundingBox of the entity. More...

auto	getCanonicalizedStatus () const noexcept -> const CanonicalizedEntityStatus &
	Get CanonicalizedStatus of the entity. More...

auto	getCanonicalizedStatusBeforeUpdate () const noexcept -> const CanonicalizedEntityStatus &
	Get CanonicalizedStatusBeforeUpdate of the entity. More...

auto	getCurrentAccel () const noexcept -> const geometry_msgs::msg::Accel &
	Get CurrentAccel of the entity. More...

auto	getCurrentTwist () const noexcept -> const geometry_msgs::msg::Twist &
	Get CurrentTwist of the entity. More...

auto	getDynamicConstraints () const noexcept -> traffic_simulator_msgs::msg::DynamicConstraints
	Get DynamicConstraints of the entity. More...

auto	getEntitySubtype () const noexcept -> const traffic_simulator_msgs::msg::EntitySubtype &
	Get EntitySubtype of the entity. More...

auto	getEntityType () const noexcept -> const traffic_simulator_msgs::msg::EntityType &
	Get EntityType of the entity. More...

auto	getLinearJerk () const noexcept -> double
	Get LinearJerk of the entity. More...

auto	getMapPose () const noexcept -> const geometry_msgs::msg::Pose &
	Get MapPose of the entity. More...

auto	getStandStillDuration () const noexcept -> double
	Get StandStillDuration of the entity. More...

auto	getTraveledDistance () const noexcept -> double
	Get TraveledDistance of the entity. More...

auto	getName () const noexcept -> const std::string &
	Get Name of the entity. More...

auto	get2DPolygon () const -> std::vector< geometry_msgs::msg::Point >

auto	isStopped () const -> bool

auto	isNearbyPosition (const geometry_msgs::msg::Pose &pose, const double tolerance) const -> bool

auto	isNearbyPosition (const CanonicalizedLaneletPose &lanelet_pose, const double tolerance) const -> bool

auto	isInLanelet () const -> bool

auto	isInLanelet (const lanelet::Id lanelet_id, std::optional< double > tolerance=std::nullopt) const -> bool

auto	getCanonicalizedLaneletPose () const -> std::optional< CanonicalizedLaneletPose >

auto	getCanonicalizedLaneletPose (const double matching_distance) const -> std::optional< CanonicalizedLaneletPose >

virtual auto	onPostUpdate (const double current_time, const double step_time) -> void

void	resetDynamicConstraints ()

auto	requestLaneChange (const lane_change::Direction &direction) -> void

auto	requestLaneChange (const lane_change::AbsoluteTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint) -> void

auto	requestLaneChange (const lane_change::RelativeTarget &target, const lane_change::TrajectoryShape trajectory_shape, const lane_change::Constraint &constraint) -> void

virtual void	requestWalkStraight ()

void	setDynamicConstraints (const traffic_simulator_msgs::msg::DynamicConstraints &constraints)

void	setOtherStatus (const std::unordered_map< std::string, CanonicalizedEntityStatus > &status)

auto	setCanonicalizedStatus (const CanonicalizedEntityStatus &status) -> void

virtual auto	setStatus (const EntityStatus &status) -> void

virtual auto	setStatus (const EntityStatus &status, const lanelet::Ids &lanelet_ids) -> void

virtual auto	setStatus (const geometry_msgs::msg::Pose &map_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

virtual auto	setStatus (const geometry_msgs::msg::Pose &reference_pose, const geometry_msgs::msg::Pose &relative_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

virtual auto	setStatus (const geometry_msgs::msg::Pose &reference_pose, const geometry_msgs::msg::Point &relative_position, const geometry_msgs::msg::Vector3 &relative_rpy, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

virtual auto	setStatus (const CanonicalizedLaneletPose &canonicalized_lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

virtual auto	setStatus (const LaneletPose &lanelet_pose, const traffic_simulator_msgs::msg::ActionStatus &action_status=helper::constructActionStatus()) -> void

virtual auto	setLinearAcceleration (const double linear_acceleration) -> void

virtual auto	setLinearVelocity (const double linear_velocity) -> void

virtual auto	activateOutOfRangeJob (const double min_velocity, const double max_velocity, const double min_acceleration, const double max_acceleration, const double min_jerk, const double max_jerk) -> void

auto	setTwist (const geometry_msgs::msg::Twist &twist) -> void

auto	setAcceleration (const geometry_msgs::msg::Accel &accel) -> void

auto	setAction (const std::string &action) -> void

auto	setLinearJerk (const double liner_jerk) -> void

void	stopAtCurrentPosition ()

void	updateEntityStatusTimestamp (const double current_time)

auto	requestSynchronize (const std::string &target_name, const CanonicalizedLaneletPose &target_sync_pose, const CanonicalizedLaneletPose &entity_target, const double target_speed, const double tolerance) -> bool

Additional Inherited Members
Public Attributes inherited from traffic_simulator::entity::VehicleEntity
const traffic_simulator_msgs::msg::VehicleParameters	vehicle_parameters

Public Attributes inherited from traffic_simulator::entity::EntityBase
const std::string	name

bool	verbose

Protected Attributes inherited from traffic_simulator::entity::EntityBase
std::shared_ptr< CanonicalizedEntityStatus >	status_

CanonicalizedEntityStatus	status_before_update_

std::shared_ptr< hdmap_utils::HdMapUtils >	hdmap_utils_ptr_

std::shared_ptr< traffic_simulator::TrafficLightsBase >	traffic_lights_

double	stand_still_duration_ = 0.0

double	traveled_distance_ = 0.0

double	prev_job_duration_ = 0.0

double	step_time_ = 0.0

std::unordered_map< std::string, CanonicalizedEntityStatus >	other_status_

std::optional< double >	target_speed_

traffic_simulator::job::JobList	job_list_

std::unique_ptr< traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner >	speed_planner_

Constructor & Destructor Documentation

◆ EgoEntity() [1/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( )

explicitdelete

◆ EgoEntity() [2/4]

traffic_simulator::entity::EgoEntity::EgoEntity	(	const std::string &	name,
		const CanonicalizedEntityStatus &	entity_status,
		const std::shared_ptr< hdmap_utils::HdMapUtils > &	hdmap_utils_ptr,
		const traffic_simulator_msgs::msg::VehicleParameters &	parameters,
		const Configuration &	configuration,
		const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &	node_parameters
	)

explicit

◆ EgoEntity() [3/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( EgoEntity && )

explicitdelete

◆ EgoEntity() [4/4]

traffic_simulator::entity::EgoEntity::EgoEntity ( const EgoEntity & )

explicitdelete

◆ ~EgoEntity()

traffic_simulator::entity::EgoEntity::~EgoEntity ( )

overridedefault

Member Function Documentation

◆ engage()

auto traffic_simulator::entity::EgoEntity::engage ( ) -> void

◆ getBehaviorParameter()

auto traffic_simulator::entity::EgoEntity::getBehaviorParameter ( ) const -> traffic_simulator_msgs::msg::BehaviorParameter

overridevirtual

TODO, Input values get from autoware.

Implements traffic_simulator::entity::EntityBase.

◆ getCurrentAction()

auto traffic_simulator::entity::EgoEntity::getCurrentAction ( ) const -> std::string

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getCurrentPose()

auto traffic_simulator::entity::EgoEntity::getCurrentPose ( ) const -> const geometry_msgs::msg::Pose &

◆ getDefaultDynamicConstraints()

auto traffic_simulator::entity::EgoEntity::getDefaultDynamicConstraints ( ) const -> const traffic_simulator_msgs::msg::DynamicConstraints &

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getEmergencyStateName()

auto traffic_simulator::entity::EgoEntity::getEmergencyStateName ( ) const -> std::string

◆ getEntityStatus()

auto traffic_simulator::entity::EgoEntity::getEntityStatus	(	const double	,
		const double
	)		const -> const CanonicalizedEntityStatus

◆ getEntityTypename()

auto traffic_simulator::entity::EgoEntity::getEntityTypename ( ) const -> const std::string &

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getMinimumRiskManeuverBehaviorName()

auto traffic_simulator::entity::EgoEntity::getMinimumRiskManeuverBehaviorName ( ) const -> std::string

◆ getMinimumRiskManeuverStateName()

auto traffic_simulator::entity::EgoEntity::getMinimumRiskManeuverStateName ( ) const -> std::string

◆ getObstacle()

auto traffic_simulator::entity::EgoEntity::getObstacle ( ) -> std::optional<traffic_simulator_msgs::msg::Obstacle>

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getRouteLanelets()

auto traffic_simulator::entity::EgoEntity::getRouteLanelets ( double horizon = 100 ) -> lanelet::Ids

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ getTurnIndicatorsCommandName()

auto traffic_simulator::entity::EgoEntity::getTurnIndicatorsCommandName ( ) const -> std::string

◆ getWaypoints()

auto traffic_simulator::entity::EgoEntity::getWaypoints ( ) -> const traffic_simulator_msgs::msg::WaypointsArray

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ isControlledBySimulator()

auto traffic_simulator::entity::EgoEntity::isControlledBySimulator ( ) const -> bool

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ isEngageable()

auto traffic_simulator::entity::EgoEntity::isEngageable ( ) const -> bool

◆ isEngaged()

auto traffic_simulator::entity::EgoEntity::isEngaged ( ) const -> bool

◆ onUpdate()

void traffic_simulator::entity::EgoEntity::onUpdate	(	double	current_time,
		double	step_time
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ operator=() [1/2]

auto traffic_simulator::entity::EgoEntity::operator= ( const EgoEntity & ) -> EgoEntity &=delete

delete

◆ operator=() [2/2]

auto traffic_simulator::entity::EgoEntity::operator= ( EgoEntity && ) -> EgoEntity &=delete

delete

◆ requestAcquirePosition() [1/2]

void traffic_simulator::entity::EgoEntity::requestAcquirePosition ( const CanonicalizedLaneletPose & lanelet_pose )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAcquirePosition() [2/2]

void traffic_simulator::entity::EgoEntity::requestAcquirePosition ( const geometry_msgs::msg::Pose & map_pose )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [1/2]

void traffic_simulator::entity::EgoEntity::requestAssignRoute ( const std::vector< CanonicalizedLaneletPose > & waypoints )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAssignRoute() [2/2]

void traffic_simulator::entity::EgoEntity::requestAssignRoute ( const std::vector< geometry_msgs::msg::Pose > & waypoints )

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ requestAutoModeForCooperation()

auto traffic_simulator::entity::EgoEntity::requestAutoModeForCooperation	(	const std::string &	module_name,
		bool	enable
	)		-> void

◆ requestClearRoute()

auto traffic_simulator::entity::EgoEntity::requestClearRoute ( ) -> void

◆ requestFollowTrajectory()

auto traffic_simulator::entity::EgoEntity::requestFollowTrajectory ( const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > & parameter ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestLaneChange() [1/2]

auto traffic_simulator::entity::EgoEntity::requestLaneChange ( const lane_change::Parameter & ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestLaneChange() [2/2]

auto traffic_simulator::entity::EgoEntity::requestLaneChange ( const lanelet::Id ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestReplanRoute()

auto traffic_simulator::entity::EgoEntity::requestReplanRoute ( const std::vector< geometry_msgs::msg::PoseStamped > & route ) -> void

◆ requestSpeedChange() [1/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange	(	const double	target_speed,
		const speed_change::Transition	,
		const speed_change::Constraint	,
		const bool	continuous
	)		-> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [2/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange	(	const speed_change::RelativeTargetSpeed &	,
		const speed_change::Transition	,
		const speed_change::Constraint	,
		const bool	continuous
	)		-> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [3/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange	(	const speed_change::RelativeTargetSpeed &	target_speed,
		bool	continuous
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ requestSpeedChange() [4/4]

auto traffic_simulator::entity::EgoEntity::requestSpeedChange	(	double	value,
		bool	continuous
	)

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ sendCooperateCommand()

auto traffic_simulator::entity::EgoEntity::sendCooperateCommand	(	const std::string &	module_name,
		const std::string &	command
	)		-> void

◆ setBehaviorParameter()

auto traffic_simulator::entity::EgoEntity::setBehaviorParameter ( const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter ) -> void

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ setControlledBySimulator()

auto traffic_simulator::entity::EgoEntity::setControlledBySimulator ( bool state ) -> void

inlineoverridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ setMapPose()

auto traffic_simulator::entity::EgoEntity::setMapPose ( const geometry_msgs::msg::Pose & map_pose ) -> void

overridevirtual

Reimplemented from traffic_simulator::entity::EntityBase.

◆ setParameter()

template<typename ParameterType >

auto traffic_simulator::entity::EgoEntity::setParameter	(	const std::string &	name,
		const ParameterType &	default_value = `{}`
	)		-> ParameterType

inline

◆ setStatus()

template<typename... Ts>

auto traffic_simulator::entity::EgoEntity::setStatus ( Ts &&... xs ) -> void

inline

◆ setVelocityLimit()

auto traffic_simulator::entity::EgoEntity::setVelocityLimit ( double value ) -> void

overridevirtual

Implements traffic_simulator::entity::EntityBase.

◆ updateFieldOperatorApplication()

void traffic_simulator::entity::EgoEntity::updateFieldOperatorApplication ( ) -> void

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

simulation/traffic_simulator/include/traffic_simulator/entity/ego_entity.hpp
simulation/traffic_simulator/src/entity/ego_entity.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ EgoEntity() [1/4]

◆ EgoEntity() [2/4]

◆ EgoEntity() [3/4]

◆ EgoEntity() [4/4]

◆ ~EgoEntity()

Member Function Documentation

◆ engage()

◆ getBehaviorParameter()

◆ getCurrentAction()

◆ getCurrentPose()

◆ getDefaultDynamicConstraints()

◆ getEmergencyStateName()

◆ getEntityStatus()

◆ getEntityTypename()

◆ getMinimumRiskManeuverBehaviorName()

◆ getMinimumRiskManeuverStateName()

◆ getObstacle()

◆ getRouteLanelets()

◆ getTurnIndicatorsCommandName()

◆ getWaypoints()

◆ isControlledBySimulator()

◆ isEngageable()

◆ isEngaged()

◆ onUpdate()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ requestAcquirePosition() [1/2]

◆ requestAcquirePosition() [2/2]

◆ requestAssignRoute() [1/2]

◆ requestAssignRoute() [2/2]

◆ requestAutoModeForCooperation()

◆ requestClearRoute()

◆ requestFollowTrajectory()

◆ requestLaneChange() [1/2]

◆ requestLaneChange() [2/2]

◆ requestReplanRoute()

◆ requestSpeedChange() [1/4]

◆ requestSpeedChange() [2/4]

◆ requestSpeedChange() [3/4]

◆ requestSpeedChange() [4/4]

◆ sendCooperateCommand()

◆ setBehaviorParameter()

◆ setControlledBySimulator()

◆ setMapPose()

◆ setParameter()

◆ setStatus()

◆ setVelocityLimit()

◆ updateFieldOperatorApplication()