autoware::behavior_planner::BehaviorPlanner Class Reference

Class that contains core functions of the behavior planner. More...

#include <behavior_planner.hpp>

Public Member Functions
	BehaviorPlanner (const PlannerConfig &config)
void	set_route (const Route &route, const lanelet::LaneletMapPtr &lanelet_map_ptr)
void	clear_route ()
void	set_next_subroute ()
bool8_t	is_route_ready ()
bool8_t	needs_new_trajectory (const State &state)
TrajectoryPoint	get_sub_goal ()
bool8_t	has_arrived_goal (const State &state)
bool8_t	has_arrived_subroute_goal (const State &state)
bool8_t	is_vehicle_stopped (const State &state)
RouteWithType	get_current_subroute (const State &ego_state)
PlannerType	get_planner_type ()
uchar8_t	get_desired_gear (const State &state)
std::vector< RouteWithType >	get_subroutes ()
bool8_t	is_trajectory_ready ()
void	set_trajectory (const Trajectory &trajectory)
Trajectory	get_trajectory (const State &state)
size_t	get_remaining_length (const State &state)

Detailed Description

Class that contains core functions of the behavior planner.

Constructor & Destructor Documentation

BehaviorPlanner()

autoware::behavior_planner::BehaviorPlanner::BehaviorPlanner ( const PlannerConfig &  config )

explicit

Member Function Documentation

clear_route()

void autoware::behavior_planner::BehaviorPlanner::clear_route

(

)

get_current_subroute()

RouteWithType autoware::behavior_planner::BehaviorPlanner::get_current_subroute

(

const State &

ego_state

)

get_desired_gear()

uchar8_t autoware::behavior_planner::BehaviorPlanner::get_desired_gear

(

const State &

state

)

get_planner_type()

PlannerType autoware::behavior_planner::BehaviorPlanner::get_planner_type

(

)

get_remaining_length()

size_t autoware::behavior_planner::BehaviorPlanner::get_remaining_length

(

const State &

state

)

get_sub_goal()

TrajectoryPoint autoware::behavior_planner::BehaviorPlanner::get_sub_goal

(

)

get_subroutes()

std::vector< RouteWithType > autoware::behavior_planner::BehaviorPlanner::get_subroutes

(

)

get_trajectory()

Trajectory autoware::behavior_planner::BehaviorPlanner::get_trajectory

(

const State &

state

)

has_arrived_goal()

bool8_t autoware::behavior_planner::BehaviorPlanner::has_arrived_goal

(

const State &

state

)

has_arrived_subroute_goal()

bool8_t autoware::behavior_planner::BehaviorPlanner::has_arrived_subroute_goal

(

const State &

state

)

is_route_ready()

bool8_t autoware::behavior_planner::BehaviorPlanner::is_route_ready

(

)

is_trajectory_ready()

bool8_t autoware::behavior_planner::BehaviorPlanner::is_trajectory_ready

(

)

is_vehicle_stopped()

bool8_t autoware::behavior_planner::BehaviorPlanner::is_vehicle_stopped

(

const State &

state

)

needs_new_trajectory()

bool8_t autoware::behavior_planner::BehaviorPlanner::needs_new_trajectory

(

const State &

state

)

set_next_subroute()

void autoware::behavior_planner::BehaviorPlanner::set_next_subroute

(

)

set_route()

void autoware::behavior_planner::BehaviorPlanner::set_route	(	const Route &	route,
		const lanelet::LaneletMapPtr &	lanelet_map_ptr
	)

set_trajectory()

void autoware::behavior_planner::BehaviorPlanner::set_trajectory

(

const Trajectory &

trajectory

)

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

• behavior_planner.hpp
• behavior_planner.cpp