ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
ap_trajectory_generation.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Jan Lauermann - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 namespace adore
18 {
19  namespace params
20  {
26  {
27 
28  public:
29 
31  virtual double get_rho()const =0;
32 
34  virtual double getZDIntegrationLength()const =0;
35 
37  virtual double getZDIntegrationStep()const =0;
38 
40  virtual int getSetPointCount()const =0;
41 
43  virtual double getEmergencyManeuverDelay()const =0;
44  };
45  }
46 }
abstract class containing parameters to configure the behaviour of trajectory generation
Definition: ap_trajectory_generation.h:26
virtual double getZDIntegrationStep() const =0
zero dynamics step size
virtual int getSetPointCount() const =0
number of set points in set-point request
virtual double getZDIntegrationLength() const =0
zero dynamics integration length
virtual double getEmergencyManeuverDelay() const =0
time after which emergency maneuver kicks in
virtual double get_rho() const =0
cor to planning point: movement of planning point shall planned by the trajectory planner
Definition: areaofeffectconverter.h:20