ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
p_navigation.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Jan Lauermann - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 #include <ros/ros.h>
20 
21 namespace adore
22 {
23  namespace if_ROS
24  {
25  namespace params
26  {
28  {
29  public:
30  PNavigation(ros::NodeHandle n,std::string prefix)
31  :ROSParam(n,prefix + "navigation/")
32  {
33  }
34  virtual bool getActivePlottingLocal() override
35  {
36  bool value = false;
37  static const std::string name = prefix_ + "active_plotting_local";
38  get(name,value);
39  return value;
40  }
41  virtual bool getActivePlottingGlobal() override
42  {
43  bool value = false;
44  static const std::string name = prefix_ + "active_plotting_global";
45  get(name,value);
46  return value;
47  }
48  virtual bool useScenarioManagerMap() override
49  {
50  bool value = false;
51  static const std::string name = prefix_ + "use_scenario_mananger_map";
52  get(name,value);
53  return value;
54  }
55  virtual double getLaneChangePenalty() const override
56  {
57  double value = 100.0;
58  static const std::string name = prefix_ + "lane_change_penalty";
59  get(name,value);
60  return value;
61  }
62  virtual double getNagivationGoalStopToleranceLateral()const override
63  {
64  double value = 25.0;
65  static const std::string name = prefix_ + "navigation_goal_stop_tolerance_lateral";
66  get(name,value);
67  return value;
68  }
69  };
70  }
71  }
72 }
Definition: ros_com_patterns.h:179
std::string prefix_
Definition: ros_com_patterns.h:181
void get(const std::string &name, T &result) const
Definition: ros_com_patterns.h:186
Definition: p_navigation.h:28
virtual bool getActivePlottingLocal() override
Definition: p_navigation.h:34
virtual bool getActivePlottingGlobal() override
Definition: p_navigation.h:41
virtual double getNagivationGoalStopToleranceLateral() const override
Definition: p_navigation.h:62
PNavigation(ros::NodeHandle n, std::string prefix)
Definition: p_navigation.h:30
virtual bool useScenarioManagerMap() override
Definition: p_navigation.h:48
virtual double getLaneChangePenalty() const override
Definition: p_navigation.h:55
abstract class containing parameters which configure navigation behaviour
Definition: ap_navigation.h:25
Definition: areaofeffectconverter.h:20