follow_lane_action.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__FOLLOW_LANE_ACTION_HPP_
#define BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__FOLLOW_LANE_ACTION_HPP_
 
#include <behavior_tree_plugin/vehicle/behavior_tree.hpp>
#include <behavior_tree_plugin/vehicle/vehicle_action_node.hpp>
#include <optional>
#include <string>
#include <vector>
 
namespace entity_behavior
{
namespace vehicle
{
namespace follow_lane_sequence
{
class FollowLaneAction : public entity_behavior::VehicleActionNode
{
public:
  FollowLaneAction(const std::string & name, const BT::NodeConfiguration & config);
  bool checkPreconditions() override;
  BT::NodeStatus doAction() override;
  void getBlackBoardValues() override;
  static BT::PortsList providedPorts()
  {
    return entity_behavior::VehicleActionNode::providedPorts();
  }
  const traffic_simulator_msgs::msg::WaypointsArray calculateWaypoints() override;
  const std::optional<traffic_simulator_msgs::msg::Obstacle> calculateObstacle(
    const traffic_simulator_msgs::msg::WaypointsArray & waypoints) override;
 
private:
  std::optional<traffic_simulator::LaneletPose> target_lanelet_pose_;
  bool use_trajectory_based_front_entity_detection_;
  double trajectory_based_detection_offset_;
  static constexpr double waypoint_interval = 1.0;
  static constexpr double front_entity_stop_margin = 5.0;
  static constexpr double bounding_box_half_factor = 0.5;
  static constexpr double stop_line_margin = 5.0;
  static constexpr double conflicting_entity_margin = 3.0;
};
}  // namespace follow_lane_sequence
}  // namespace vehicle
}  // namespace entity_behavior
 
#endif  // BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__FOLLOW_LANE_ACTION_HPP_