FixedPhaseIterationHandler Class Reference

Detailed Description

DynamicEnvironmentHandler class implementation.

Each rule state is expected to last a fixed amount of time. An ignition service is provided for modifying the phase duration. A topic is advertised for publishing the current phase for each PhaseRing. The message being published is a ignition::msgs::StringMsg. topic_name : "/current_phase

#include <src/backend/fixed_phase_iteration_handler.h>

Inheritance diagram for FixedPhaseIterationHandler:

Public Member Functions
	FixedPhaseIterationHandler ()=delete
	FixedPhaseIterationHandler (maliput::api::RoadNetwork *road_network, double phase_duration=10.)
	Constructs a FixedPhaseIterationHandler. More...
	~FixedPhaseIterationHandler () override=default
void	Update (double sim_time) override
	Updates the rule's states. More...
double	get_phase_duration () const
void	set_phase_duration (double phase_duration)
Public Member Functions inherited from DynamicEnvironmentHandler
	DynamicEnvironmentHandler ()=delete
virtual	~DynamicEnvironmentHandler ()=default

Static Public Attributes
static constexpr char	kCurrentPhaseTopic [] = "/current_phase"
	Name of service for modifying phase duration. More...
static constexpr char	kSetPhaseDurationSrvName [] = "/set_phase_duration"

Protected Member Functions
void	SetPhaseDurationSvCb (const ignition::msgs::Double &phase_duration)
Protected Member Functions inherited from DynamicEnvironmentHandler
	DynamicEnvironmentHandler (maliput::api::RoadNetwork *road_network)
	Creates DynamicEnvironmentHandler. More...

Additional Inherited Members
Protected Attributes inherited from DynamicEnvironmentHandler
maliput::api::RoadNetwork *	road_network_ {nullptr}

Constructor & Destructor Documentation

FixedPhaseIterationHandler() [1/2]

FixedPhaseIterationHandler ( )

delete

FixedPhaseIterationHandler() [2/2]

FixedPhaseIterationHandler	(	maliput::api::RoadNetwork *	road_network,
		double	phase_duration = 10.
	)

Constructs a FixedPhaseIterationHandler.

Parameters

road_network	maliput::api::RoadNetwork pointer.
phase_duration	The duration of the rule's states in seconds.

~FixedPhaseIterationHandler()

~FixedPhaseIterationHandler ( )

overridedefault

Member Function Documentation

get_phase_duration()

double get_phase_duration

(

)

const

Returns

The duration of the rule's states in seconds.

set_phase_duration()

void set_phase_duration

(

double

phase_duration

)

Parameters

phase_duration

The duration of the rule's states in seconds.

SetPhaseDurationSvCb()

void SetPhaseDurationSvCb ( const ignition::msgs::Double &  phase_duration )

protected

Update()

void Update ( double  sim_time )

overridevirtual

Updates the rule's states.

Parameters

sim_time

Current simulation time.

Implements DynamicEnvironmentHandler.

Member Data Documentation

kCurrentPhaseTopic

constexpr char kCurrentPhaseTopic[] = "/current_phase"

staticconstexpr

Name of service for modifying phase duration.

kSetPhaseDurationSrvName

constexpr char kSetPhaseDurationSrvName[] = "/set_phase_duration"

staticconstexpr

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

• fixed_phase_iteration_handler.h
• fixed_phase_iteration_handler.cc