Autoware.Auto
autoware::motion::control::pure_pursuit_nodes::PurePursuitNode Class Reference

Boilerplate node that subscribes to the current pose and publishes a vehicle control command. More...

#include <pure_pursuit_node.hpp>

Inheritance diagram for autoware::motion::control::pure_pursuit_nodes::PurePursuitNode:
Collaboration diagram for autoware::motion::control::pure_pursuit_nodes::PurePursuitNode:

Public Member Functions

 PurePursuitNode (const std::string &node_name, const std::string &node_namespace="")
 Parameter constructor. More...
 
 PurePursuitNode (const std::string &node_name, const pure_pursuit::Config &cfg, const std::string &node_namespace="")
 Explicit constructor. More...
 
- Public Member Functions inherited from motion::control::controller_common_nodes::ControllerBaseNode
 ControllerBaseNode (const std::string &name, const std::string &ns)
 Parameter file constructor. More...
 
 ControllerBaseNode (const std::string &name, const std::string &ns, const std::string &command_topic, const std::string &state_topic, const std::string &tf_topic, const std::string &trajectory_topic, const std::string &diagnostic_topic, const std::string &static_tf_topic="static_tf")
 Explicit constructor. More...
 
virtual ~ControllerBaseNode () noexcept=default
 

Additional Inherited Members

- Protected Member Functions inherited from motion::control::controller_common_nodes::ControllerBaseNode
void set_controller (ControllerPtr &&controller) noexcept
 Child class should call this to set the controller. More...
 
virtual void on_bad_trajectory (std::exception_ptr eptr)
 
virtual void on_bad_compute (std::exception_ptr eptr)
 
void publish (const Command &msg)
 Expose publishing in case a child class wants to do something during error handling. More...
 

Detailed Description

Boilerplate node that subscribes to the current pose and publishes a vehicle control command.

Constructor & Destructor Documentation

◆ PurePursuitNode() [1/2]

autoware::motion::control::pure_pursuit_nodes::PurePursuitNode::PurePursuitNode ( const std::string &  node_name,
const std::string &  node_namespace = "" 
)

Parameter constructor.

Parameters
[in]node_nameName of the node, controls which parameter set from the file is matched
[in]node_namespaceName of the node's namespace, controls which parameters are used

◆ PurePursuitNode() [2/2]

autoware::motion::control::pure_pursuit_nodes::PurePursuitNode::PurePursuitNode ( const std::string &  node_name,
const pure_pursuit::Config cfg,
const std::string &  node_namespace = "" 
)

Explicit constructor.

Parameters
[in]node_nameName of the node
[in]cfgConfiguration object for PurePursuit
[in]node_namespaceNamespace of this node

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