This is the design document for the lane_planner_nodes
package.
Purpose / Use cases
The LanePlannerNode is a ROS wrapper class for lane_planner.
Design
This inherits TrajectoryPlannerNodeBase class which defines common interface among different planners.
Implemented virtual functions:
- create_map_request: currently it requests for full map since have no way of knowing the size of map that includes all given map_primitive in the route.
- plan_trajectory: passes the input to LanePlanner class to plan trajectory.
Assumptions / Known limits
Inputs / Outputs / API
See TrajectoryPlannerNodeBase for inputs and outputs
Inner-workings / Algorithms
Error detection and handling
Security considerations
References / External links
Future extensions / Unimplemented parts
- reimplement createMapRequest function with planning_window size.
Related issues