15 #ifndef BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__FOLLOW_LANE_ACTION_HPP_
16 #define BEHAVIOR_TREE_PLUGIN__VEHICLE__FOLLOW_LANE_SEQUENCE__FOLLOW_LANE_ACTION_HPP_
28 namespace follow_lane_sequence
43 const traffic_simulator_msgs::msg::WaypointsArray & waypoints)
override;
46 std::optional<traffic_simulator::LaneletPose> target_lanelet_pose_;
47 bool use_trajectory_based_front_entity_detection_;
48 double trajectory_based_detection_width_;
49 static constexpr
double waypoint_interval = 1.0;
50 static constexpr
double front_entity_stop_margin = 5.0;
51 static constexpr
double bounding_box_half_factor = 0.5;
52 static constexpr
double stop_line_margin = 5.0;
53 static constexpr
double conflicting_entity_margin = 3.0;
Definition: vehicle_action_node.hpp:36
static BT::PortsList providedPorts()
Definition: vehicle_action_node.hpp:41
Definition: follow_lane_action.hpp:31
BT::NodeStatus doAction() override
Definition: follow_lane_action.cpp:89
void getBlackBoardValues() override
Definition: follow_lane_action.cpp:67
FollowLaneAction(const std::string &name, const BT::NodeConfiguration &config)
Definition: follow_lane_action.cpp:31
bool checkPreconditions() override
Definition: follow_lane_action.cpp:78
const std::optional< traffic_simulator_msgs::msg::Obstacle > calculateObstacle(const traffic_simulator_msgs::msg::WaypointsArray &waypoints) override
Definition: follow_lane_action.cpp:43
const traffic_simulator_msgs::msg::WaypointsArray calculateWaypoints() override
Definition: follow_lane_action.cpp:49
static BT::PortsList providedPorts()
Definition: follow_lane_action.hpp:37
Definition: action_node.hpp:43
std::string string
Definition: junit5.hpp:26