entity_behavior::vehicle::FollowPolylineTrajectoryAction Struct Reference

#include <follow_polyline_trajectory_action.hpp>

Inheritance diagram for entity_behavior::vehicle::FollowPolylineTrajectoryAction:

Collaboration diagram for entity_behavior::vehicle::FollowPolylineTrajectoryAction:

Public Member Functions
auto	calculateWaypoints () -> const traffic_simulator_msgs::msg::WaypointsArray override
auto	calculateObstacle (const traffic_simulator_msgs::msg::WaypointsArray &) -> const std::optional< traffic_simulator_msgs::msg::Obstacle > override
auto	tick () -> BT::NodeStatus override
	VehicleActionNode (const std::string &name, const BT::NodeConfiguration &config)
Public Member Functions inherited from entity_behavior::VehicleActionNode
	VehicleActionNode (const std::string &name, const BT::NodeConfiguration &config)
	~VehicleActionNode () override=default
void	getBlackBoardValues ()
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	foundConflictingEntity (const lanelet::Ids &following_lanelets) const -> bool
auto	getDistanceToConflictingEntity (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
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	getDistanceToStopLine (const lanelet::Ids &route_lanelets, const std::vector< geometry_msgs::msg::Point > &waypoints) const -> std::optional< double >
auto	getDistanceToTrafficLightStopLine (const lanelet::Ids &route_lanelets, const math::geometry::CatmullRomSplineInterface &spline) const -> std::optional< double >
auto	getRightOfWayEntities () const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	getRightOfWayEntities (const lanelet::Ids &following_lanelets) const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	getYieldStopDistance (const lanelet::Ids &following_lanelets) const -> std::optional< double >
auto	getOtherEntityStatus (lanelet::Id lanelet_id) const -> std::vector< traffic_simulator::CanonicalizedEntityStatus >
auto	stopEntity () const -> void
auto	getHorizon () const -> double
auto	executeTick () -> BT::NodeStatus override
	throws if the derived class return RUNNING. More...
void	halt () override final
auto	getBlackBoardValues () -> void
auto	getEntityStatus (const std::string &target_name) const -> const traffic_simulator::CanonicalizedEntityStatus &
auto	getDistanceToTargetEntityPolygon (const math::geometry::CatmullRomSplineInterface &spline, const std::string target_name, double width_extension_right=0.0, double width_extension_left=0.0, double length_extension_front=0.0, double length_extension_rear=0.0) const -> std::optional< double >
auto	setCanonicalizedEntityStatus (const traffic_simulator::EntityStatus &entity_status) -> void
auto	calculateUpdatedEntityStatus (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus
auto	calculateUpdatedEntityStatusInWorldFrame (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &) const -> traffic_simulator::EntityStatus

Static Public Member Functions
static auto	providedPorts () -> BT::PortsList
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 ()

Public Attributes
std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory >	polyline_trajectory

Additional Inherited Members
Protected Attributes inherited from entity_behavior::VehicleActionNode
traffic_simulator_msgs::msg::BehaviorParameter	behavior_parameter
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< hdmap_utils::HdMapUtils >	hdmap_utils
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

Member Function Documentation

calculateObstacle()

auto entity_behavior::vehicle::FollowPolylineTrajectoryAction::calculateObstacle ( const traffic_simulator_msgs::msg::WaypointsArray &  ) -> const std::optional<traffic_simulator_msgs::msg::Obstacle>

overridevirtual

Obstacle avoidance is not implemented for this action.

Todo:

If you implement obstacle avoidance for this action, implement this virtual function to return the location of any obstacles blocking the path of this action's actor. However, this virtual function is currently used only for the visualization of obstacle information, so the obstacle avoidance algorithm does not necessarily need to use this virtual function.

Implements entity_behavior::VehicleActionNode.

calculateWaypoints()

auto entity_behavior::vehicle::FollowPolylineTrajectoryAction::calculateWaypoints ( ) -> const traffic_simulator_msgs::msg::WaypointsArray

overridevirtual

Implements entity_behavior::VehicleActionNode.

providedPorts()

auto entity_behavior::vehicle::FollowPolylineTrajectoryAction::providedPorts ( ) -> BT::PortsList

static

tick()

auto entity_behavior::vehicle::FollowPolylineTrajectoryAction::tick ( ) -> BT::NodeStatus

override

VehicleActionNode()

entity_behavior::VehicleActionNode::VehicleActionNode

Member Data Documentation

polyline_trajectory

std::shared_ptr<traffic_simulator_msgs::msg::PolylineTrajectory> entity_behavior::vehicle::FollowPolylineTrajectoryAction::polyline_trajectory

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

• simulation/behavior_tree_plugin/include/behavior_tree_plugin/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.hpp
• simulation/behavior_tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp