ap_longitudinal_planner_dummy.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Jan Lauermann - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <adore/params/ap_longitudinal_planner.h>
 
namespace adore
{
  namespace params
  {
    class APLongitudinalPlannerDummy: public APLongitudinalPlanner
    {
 
      public:
      virtual double getWeightPos() const
      {
        return 2.0;
      }
      virtual double getWeightVel() const 
      {
        return 5.0;
      }
 
      virtual double getWeightAcc() const 
      {
        return 5.0;
      }
 
      virtual double getWeightJerk() const 
      {
        return 1.0;
      }
 
      virtual double getWeightEndPos() const 
      {
        return 0.0;
      }
 
      virtual double getWeightEndVel() const 
      {
        return 0.0;
      }
 
      virtual double getWeightEndAcc() const 
      {
        return 0.0;
      }
 
      virtual double getSlackPos() const 
      {
        return 0.5;
      }
 
      virtual double getSlackVel() const 
      {
        return 0.01;
      }
 
      virtual double getSlackAcc() const 
      {
        return 5.0;
      }
 
      virtual double getAccLB() const
      {
        return -3.0;
      }
 
      virtual double getAccUB() const
      {
        return 2.0;
      }
 
 
      virtual double getComfortAccLB() const override
      {
        return -1.0;
      }
      
      virtual double getComfortAccUB() const override
      {
        return 1.0;
      }
 
      virtual double getJerkLB() const
      {
        return -100.0;
      }
 
      virtual double getJerkUB() const
      {
        return 100.0;
      }
 
      virtual double getAccLatUB() const
      {
        return 2.0;
      }
 
      virtual double getAccLatUB_minVelocity() const
      {
        return 1.0;
      }
 
      virtual double getConstraintClearancePos() const
      {
        return 0.1;
      }
 
      virtual double getConstraintClearanceVel() const
      {
        return 0.05;
      }
 
      virtual double getMaxCPUTime() const
      {
        return 0.05;
      }
 
            virtual double getStopDistanceToConflictPoint()const
      {
        return 5.0;
      }
    };
  }
}