15 #ifndef OPENSCENARIO_PREPROCESSOR__OPENSCENARIO_PREPROCESSOR_HPP_
16 #define OPENSCENARIO_PREPROCESSOR__OPENSCENARIO_PREPROCESSOR_HPP_
22 #include <openscenario_preprocessor_msgs/srv/check_derivative_remained.hpp>
23 #include <openscenario_preprocessor_msgs/srv/derive.hpp>
24 #include <openscenario_preprocessor_msgs/srv/load.hpp>
25 #include <openscenario_preprocessor_msgs/srv/set_parameter.hpp>
26 #include <rclcpp/rclcpp.hpp>
36 path = load_request.path;
42 openscenario_preprocessor_msgs::srv::Derive::Response response;
43 response.path =
path.string();
48 boost::filesystem::path
path;
61 [[nodiscard]]
bool validateXOSC(
const boost::filesystem::path &,
bool);
63 rclcpp::Service<openscenario_preprocessor_msgs::srv::Load>::SharedPtr load_server;
65 rclcpp::Service<openscenario_preprocessor_msgs::srv::Derive>::SharedPtr derive_server;
67 rclcpp::Service<openscenario_preprocessor_msgs::srv::CheckDerivativeRemained>::SharedPtr
70 rclcpp::Service<openscenario_preprocessor_msgs::srv::SetParameter>::SharedPtr
73 std::deque<ScenarioSet> preprocessed_scenarios;
75 std::mutex preprocessed_scenarios_mutex;
77 std::unordered_map<std::string, std::string> override_parameters;
Definition: openscenario_preprocessor.hpp:54
Preprocessor(const rclcpp::NodeOptions &)
Definition: openscenario_preprocessor.cpp:23
Definition: openscenario_preprocessor.hpp:29
Request
Definition: behavior.hpp:25
Definition: openscenario_preprocessor.hpp:31
ScenarioSet(openscenario_preprocessor_msgs::srv::Load::Request &load_request)
Definition: openscenario_preprocessor.hpp:34
boost::filesystem::path path
Definition: openscenario_preprocessor.hpp:48
auto getDeriveResponse() -> openscenario_preprocessor_msgs::srv::Derive::Response
Definition: openscenario_preprocessor.hpp:40
float frame_rate
Definition: openscenario_preprocessor.hpp:50