15 #ifndef BEHAVIOR_TREE_PLUGIN__ROUTE_PLANNER_HPP_
16 #define BEHAVIOR_TREE_PLUGIN__ROUTE_PLANNER_HPP_
35 auto setWaypoints(
const std::vector<CanonicalizedLaneletPose> & waypoints) -> void;
38 auto getGoalPoses()
const -> std::vector<CanonicalizedLaneletPose>;
46 std::optional<lanelet::Ids> route_;
47 std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_ptr_;
55 std::deque<traffic_simulator::CanonicalizedLaneletPose> waypoint_queue_;
Definition: route_planner.hpp:27
auto getGoalPoses() const -> std::vector< CanonicalizedLaneletPose >
Definition: route_planner.cpp:90
auto getGoalPosesInWorldFrame() const -> std::vector< geometry_msgs::msg::Pose >
Definition: route_planner.cpp:81
auto getRouteLanelets(const CanonicalizedLaneletPose &entity_lanelet_pose, double horizon=100) -> lanelet::Ids
Definition: route_planner.cpp:35
auto cancelRoute() -> void
Definition: route_planner.cpp:59
auto setWaypoints(const std::vector< CanonicalizedLaneletPose > &waypoints) -> void
Definition: route_planner.cpp:26
RoutePlanner(const traffic_simulator::RoutingGraphType &, const std::shared_ptr< hdmap_utils::HdMapUtils > &)
Definition: route_planner.cpp:19
Definition: lanelet_pose.hpp:27
RoutingGraphType
Definition: routing_graph_type.hpp:24