autoware::behavior_planner Namespace Reference

TODO(ryohsuke.mitsudome): Document namespaces! More...

Namespaces
	PrimitiveType

Classes
class	BehaviorPlanner
	Class that contains core functions of the behavior planner. More...
struct	PlannerConfig
struct	RouteWithType
class	TrajectoryManager
	Class that splits trajectory at gear changing points and publish them separately. More...

Typedefs
using	State = autoware_auto_msgs::msg::VehicleKinematicState

Enumerations
enum	PlannerType { LANE, PARKING, UNKNOWN }
enum	ParkingDirection { ParkingDirection::HEAD_IN, ParkingDirection::TOE_IN }
	Enum representing the direction that a vehicle will park in a parking spot relative to the spot's entrance. More...

Functions
PlannerType	get_planner_type_from_primitive (const MapPrimitive &map_primitive)
autoware_auto_msgs::msg::TrajectoryPoint	convert_to_trajectory_point (const lanelet::ConstPoint2d &pt)
TrajectoryPoint	get_closest_point_on_lane (const TrajectoryPoint &point, const int64_t lane_id, const lanelet::LaneletMapPtr &lanelet_map_ptr, const float32_t offset)

Detailed Description

TODO(ryohsuke.mitsudome): Document namespaces!

Typedef Documentation

State

typedef autoware_auto_msgs::msg::VehicleKinematicState autoware::behavior_planner::State

Enumeration Type Documentation

ParkingDirection

enum autoware::behavior_planner::ParkingDirection

strong

Enum representing the direction that a vehicle will park in a parking spot relative to the spot's entrance.

Enumerator
HEAD_IN	Front of the vehicle is facing away from the entrance.
TOE_IN	Rear of the vehicle is facing away from the entrance.

PlannerType

enum autoware::behavior_planner::PlannerType

Enumerator
LANE
PARKING
UNKNOWN

Function Documentation

convert_to_trajectory_point()

autoware_auto_msgs::msg::TrajectoryPoint autoware::behavior_planner::convert_to_trajectory_point

(

const lanelet::ConstPoint2d &

pt

)

get_closest_point_on_lane()

TrajectoryPoint autoware::behavior_planner::get_closest_point_on_lane	(	const TrajectoryPoint &	point,
		const int64_t	lane_id,
		const lanelet::LaneletMapPtr &	lanelet_map_ptr,
		const float32_t	offset
	)

get_planner_type_from_primitive()

PlannerType autoware::behavior_planner::get_planner_type_from_primitive

(

const MapPrimitive &

map_primitive

)