2.2.5.3. Path Planning Node

Functions

template<typename T>
void loadParam(ros::NodeHandle &nh, const std::string &name, T &variable)

class PathPlanning

Public Functions

PathPlanning(ros::NodeHandle &nh)

Private Functions

void vehiclePoseCallback(const utilities::VehiclePose &msg)

void landmarksCallback(const utilities::ConeListWithCovariance &msg)

void publishCenterPoints(std_msgs::Header landmarks_header)

void addConeToList(Eigen::MatrixX2d &cones_list, Eigen::VectorXi &percieved_n_list, const utilities::ConePositionWithCovariance &cone, int threshold)

Private Members

PathPlanningLib path_planner_ = PathPlanningLib(LogLevel::INFO)

uint8_t perceived_n_threshold_ = 0

uint8_t perceived_n_threshold_orange_big_ = 0

Eigen::MatrixX2d centerpoints_

Eigen::MatrixX2d track_widths_

Eigen::VectorXi strategy_

std::chrono::duration<double> elapsed_time_

bool path_planning_closed_track_ = false

std_msgs::Header vehicle_pose_header_

float vehicle_pos_x_

float vehicle_pos_y_

float vehicle_vel_x_

float vehicle_heading_psi_

boost::array<double, 16UL> vehicle_covariance_

ros::Subscriber landmarks_subscriber_

ros::Subscriber vehicle_pose_subscriber_

ros::Publisher centerpoints_publisher_

Private Static Attributes

static constexpr int MIN_STRATEGY = static_cast<int>(Strategy::ERROR)

static constexpr int MAX_STRATEGY = static_cast<int>(Strategy::DEFAULT)