15 #ifndef BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__STOP_AT_STOP_LINE_ACTION_HPP_
16 #define BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__STOP_AT_STOP_LINE_ACTION_HPP_
28 namespace follow_lane_sequence
43 const traffic_simulator_msgs::msg::WaypointsArray & waypoints)
override;
46 std::optional<double> distance_to_stopline_;
47 static constexpr
double waypoint_interval = 1.0;
48 static constexpr
double bounding_box_half_factor = 0.5;
49 static constexpr
double stop_margin = 1.0;
50 static constexpr
double front_stopline_margin = 5.0;
51 static constexpr
double velocity_epsilon = 0.001;
Definition: vehicle_action_node.hpp:36
static BT::PortsList providedPorts()
Definition: vehicle_action_node.hpp:41
Definition: stop_at_stop_line_action.hpp:31
StopAtStopLineAction(const std::string &name, const BT::NodeConfiguration &config)
Definition: stop_at_stop_line_action.cpp:29
std::optional< double > calculateTargetSpeed(double current_velocity)
Definition: stop_at_stop_line_action.cpp:69
BT::NodeStatus doAction() override
Definition: stop_at_stop_line_action.cpp:103
const traffic_simulator_msgs::msg::WaypointsArray calculateWaypoints() override
Definition: stop_at_stop_line_action.cpp:53
const std::optional< traffic_simulator_msgs::msg::Obstacle > calculateObstacle(const traffic_simulator_msgs::msg::WaypointsArray &waypoints) override
Definition: stop_at_stop_line_action.cpp:35
static BT::PortsList providedPorts()
Definition: stop_at_stop_line_action.hpp:36
bool checkPreconditions() override
Definition: stop_at_stop_line_action.cpp:86
Definition: action_node.hpp:41
std::string string
Definition: junit5.hpp:26