@@ -53,28 +53,28 @@ auto ActionNode::executeTick() -> BT::NodeStatus { return BT::ActionNodeBase::ex
53
53
54
54
auto ActionNode::getBlackBoardValues () -> void
55
55
{
56
- if (!getInput<traffic_simulator::behavior::Request>(" request_ " , request_)) {
57
- THROW_SIMULATION_ERROR (" failed to get input request_ in ActionNode" );
56
+ if (!getInput<traffic_simulator::behavior::Request>(" request " , request_)) {
57
+ THROW_SIMULATION_ERROR (" failed to get input request in ActionNode" );
58
58
}
59
- if (!getInput<double >(" step_time_ " , step_time_)) {
60
- THROW_SIMULATION_ERROR (" failed to get input step_time_ in ActionNode" );
59
+ if (!getInput<double >(" step_time " , step_time_)) {
60
+ THROW_SIMULATION_ERROR (" failed to get input step_time in ActionNode" );
61
61
}
62
- if (!getInput<double >(" current_time_ " , current_time_)) {
63
- THROW_SIMULATION_ERROR (" failed to get input current_time_ in ActionNode" );
62
+ if (!getInput<double >(" current_time " , current_time_)) {
63
+ THROW_SIMULATION_ERROR (" failed to get input current_time in ActionNode" );
64
64
}
65
- if (!getInput<std::shared_ptr<hdmap_utils::HdMapUtils>>(" hdmap_utils_ " , hdmap_utils_)) {
66
- THROW_SIMULATION_ERROR (" failed to get input hdmap_utils_ in ActionNode" );
65
+ if (!getInput<std::shared_ptr<hdmap_utils::HdMapUtils>>(" hdmap_utils " , hdmap_utils_)) {
66
+ THROW_SIMULATION_ERROR (" failed to get input hdmap_utils in ActionNode" );
67
67
}
68
68
if (!getInput<std::shared_ptr<traffic_simulator::TrafficLightsBase>>(
69
- " traffic_lights_ " , traffic_lights_)) {
70
- THROW_SIMULATION_ERROR (" failed to get input traffic_lights_ in ActionNode" );
69
+ " traffic_lights " , traffic_lights_)) {
70
+ THROW_SIMULATION_ERROR (" failed to get input traffic_lights in ActionNode" );
71
71
}
72
72
if (!getInput<std::shared_ptr<traffic_simulator::CanonicalizedEntityStatus>>(
73
- " canonicalized_entity_status_ " , canonicalized_entity_status_)) {
74
- THROW_SIMULATION_ERROR (" failed to get input canonicalized_entity_status_ in ActionNode" );
73
+ " canonicalized_entity_status " , canonicalized_entity_status_)) {
74
+ THROW_SIMULATION_ERROR (" failed to get input canonicalized_entity_status in ActionNode" );
75
75
}
76
76
77
- if (!getInput<std::optional<double >>(" target_speed_ " , target_speed_)) {
77
+ if (!getInput<std::optional<double >>(" target_speed " , target_speed_)) {
78
78
target_speed_ = std::nullopt ;
79
79
}
80
80
@@ -85,18 +85,18 @@ auto ActionNode::getBlackBoardValues() -> void
85
85
" failed to get input matching_distance_for_lanelet_pose_calculation in ActionNode" );
86
86
}
87
87
88
- if (!getInput<EntityStatusDict>(" other_entity_status_ " , other_entity_status_)) {
88
+ if (!getInput<EntityStatusDict>(" other_entity_status " , other_entity_status_)) {
89
89
THROW_SIMULATION_ERROR (" failed to get input other_entity_status_ in ActionNode" );
90
90
}
91
- if (!getInput<lanelet::Ids>(" route_lanelets_ " , route_lanelets_)) {
91
+ if (!getInput<lanelet::Ids>(" route_lanelets " , route_lanelets_)) {
92
92
THROW_SIMULATION_ERROR (" failed to get input route_lanelets_ in ActionNode" );
93
93
}
94
94
if (!getInput<std::shared_ptr<EuclideanDistancesMap>>(
95
- " euclidean_distances_map_ " , euclidean_distances_map_)) {
95
+ " euclidean_distances_map " , euclidean_distances_map_)) {
96
96
euclidean_distances_map_ = std::make_shared<EuclideanDistancesMap>();
97
97
}
98
98
if (!getInput<traffic_simulator_msgs::msg::BehaviorParameter>(
99
- " behavior_parameter_ " , behavior_parameter_)) {
99
+ " behavior_parameter " , behavior_parameter_)) {
100
100
behavior_parameter_ = traffic_simulator_msgs::msg::BehaviorParameter ();
101
101
}
102
102
}
0 commit comments