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Refactored functions that involves with traffic lights
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,97 @@ | ||
| // Copyright 2015 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_ | ||
| #define CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_ | ||
|
|
||
| #include <string> | ||
| #include <traffic_simulator_msgs/msg/misc_object_parameters.hpp> | ||
| #include <traffic_simulator_msgs/msg/pedestrian_parameters.hpp> | ||
| #include <traffic_simulator_msgs/msg/vehicle_parameters.hpp> | ||
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| namespace context_gamma_planner | ||
| { | ||
| namespace mock | ||
| { | ||
| class Catalogs | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Get the default vehicle parameters. | ||
| * @return traffic_simulator_msgs::msg::VehicleParameters The vehicle parameters. | ||
| */ | ||
| auto getVehicleParameters() const -> traffic_simulator_msgs::msg::VehicleParameters | ||
| { | ||
| traffic_simulator_msgs::msg::VehicleParameters parameters; | ||
| parameters.name = "vehicle.volkswagen.t"; | ||
| parameters.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::CAR; | ||
| parameters.performance.max_speed = 69.444; | ||
| parameters.performance.max_acceleration = 200; | ||
| parameters.performance.max_deceleration = 10.0; | ||
| parameters.bounding_box.center.x = 1.5; | ||
| parameters.bounding_box.center.y = 0.0; | ||
| parameters.bounding_box.center.z = 0.9; | ||
| parameters.bounding_box.dimensions.x = 4.5; | ||
| parameters.bounding_box.dimensions.y = 1.7; | ||
| parameters.bounding_box.dimensions.z = 1.8; | ||
| parameters.axles.front_axle.max_steering = 0.5; | ||
| parameters.axles.front_axle.wheel_diameter = 0.6; | ||
| parameters.axles.front_axle.track_width = 1.8; | ||
| parameters.axles.front_axle.position_x = 3.1; | ||
| parameters.axles.front_axle.position_z = 0.3; | ||
| parameters.axles.rear_axle.max_steering = 0.0; | ||
| parameters.axles.rear_axle.wheel_diameter = 0.6; | ||
| parameters.axles.rear_axle.track_width = 1.8; | ||
| parameters.axles.rear_axle.position_x = 0.0; | ||
| parameters.axles.rear_axle.position_z = 0.3; | ||
| return parameters; | ||
| } | ||
|
|
||
| /** | ||
| * @brief Get the default pedestrian parameters. | ||
| * @return traffic_simulator_msgs::msg::PedestrianParameters The pedestrian parameters. | ||
| */ | ||
| auto getPedestrianParameters() const -> traffic_simulator_msgs::msg::PedestrianParameters | ||
| { | ||
| traffic_simulator_msgs::msg::PedestrianParameters parameters; | ||
| parameters.name = "pedestrian"; | ||
| parameters.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::PEDESTRIAN; | ||
| parameters.bounding_box.center.x = 0.0; | ||
| parameters.bounding_box.center.y = 0.0; | ||
| parameters.bounding_box.center.z = 0.5; | ||
| parameters.bounding_box.dimensions.x = 1.0; | ||
| parameters.bounding_box.dimensions.y = 1.0; | ||
| parameters.bounding_box.dimensions.z = 2.0; | ||
| return parameters; | ||
| } | ||
|
|
||
| /** | ||
| * @brief Get the default parameters of a miscellaneous object. | ||
| * @return traffic_simulator_msgs::msg::MiscObjectParameters The parameters of the miscellaneous object. | ||
| */ | ||
| auto getMiscObjectParameters() const -> traffic_simulator_msgs::msg::MiscObjectParameters | ||
| { | ||
| traffic_simulator_msgs::msg::MiscObjectParameters misc_object_param; | ||
| misc_object_param.bounding_box.dimensions.x = 1.0; | ||
| misc_object_param.bounding_box.dimensions.y = 1.0; | ||
| misc_object_param.bounding_box.dimensions.z = 1.0; | ||
| misc_object_param.subtype.value = traffic_simulator_msgs::msg::EntitySubtype::UNKNOWN; | ||
| misc_object_param.name = "obstacle"; | ||
| return misc_object_param; | ||
| } | ||
| }; | ||
| } // namespace mock | ||
| } // namespace context_gamma_planner | ||
|
|
||
| #endif // CONTEXT_GAMMA_PLANNER__MOCK__CATALOGS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -75,7 +75,7 @@ if(BUILD_TESTING) | |
| endif() | ||
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| install( | ||
| DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME}) | ||
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| ament_auto_package() | ||