autoware::drivers::vehicle_interface::SafetyStateMachine Class Reference

#include <safety_state_machine.hpp>

Public Types
using	Reports = std::vector< StateMachineReport >

Public Member Functions
	SafetyStateMachine (const StateMachineConfig &config)
	Constructor. More...
Command	compute_safe_commands (const Command &command)
void	update (const Odometry &odom, const StateReport &state)
Command	timeout_commands () const noexcept
const Reports &	reports () const noexcept
	Get list of warnings state machine saw and adjusted. More...
const StateMachineConfig &	get_config () const noexcept
	Get config object. More...

Detailed Description

Implements stateful behavior for VehicleInterfaceNode Primary function is to ensure vehicle platform does not get conflicting commands

Member Typedef Documentation

Reports

using autoware::drivers::vehicle_interface::SafetyStateMachine::Reports = std::vector<StateMachineReport>

Constructor & Destructor Documentation

SafetyStateMachine()

autoware::drivers::vehicle_interface::SafetyStateMachine::SafetyStateMachine ( const StateMachineConfig &  config )

explicit

Constructor.

Member Function Documentation

compute_safe_commands()

Command autoware::drivers::vehicle_interface::SafetyStateMachine::compute_safe_commands

(

const Command &

command

)

Ensure given commands are consistent and not dangerous. See design document for full list of behaviors.

Parameters

[in]

command

The raw input commands

Returns

Commands which are consistent and safe (within the scope of the vehicle interface)

get_config()

const StateMachineConfig & autoware::drivers::vehicle_interface::SafetyStateMachine::get_config ( ) const

noexcept

Get config object.

reports()

const SafetyStateMachine::Reports & autoware::drivers::vehicle_interface::SafetyStateMachine::reports ( ) const

noexcept

Get list of warnings state machine saw and adjusted.

timeout_commands()

Command autoware::drivers::vehicle_interface::SafetyStateMachine::timeout_commands ( ) const

noexcept

Compute safety fallback commands that should be executed on a timeout

Returns

The safety fallback command for the current state

update()

void autoware::drivers::vehicle_interface::SafetyStateMachine::update	(	const Odometry &	odom,
		const StateReport &	state
	)

Update the state of the state machine

Parameters

[in]	odom	The odometry of the vehicle
[in]	state	The state of the vehicle

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

• safety_state_machine.hpp
• safety_state_machine.cpp