45 virtual double getValue(
double t,
double s,
double ds)
const override
48 if(kappa<1e-6)
return 10000.0;
51 virtual void update(
double t0,
double s0,
double ds0)
override
89 virtual double getValue(
double t,
double s,
double ds)
const override
95 value = value / (double)(
kp+
km+1);
98 virtual void update(
double t0,
double s0,
double ds0)
override
138 virtual double getValue(
double t,
double s,
double ds)
const override
141 const double t_lah = ds/
a;
151 const double v0 = std::sqrt(v1*v1+2.0*(si-s)*
a);
156 virtual void update(
double t0,
double s0,
double ds0)
override
181 virtual double getValue(
double t,
double s,
double ds)
const override
185 virtual void update(
double t0,
double s0,
double ds0)
override {}
217 virtual double getValue(
double t,
double s,
double ds)
const override
239 virtual void update(
double t0,
double s0,
double ds0)
override
283 virtual double getValue(
double t,
double s,
double ds)
const override
287 virtual void update(
double t0,
double s0,
double ds0)
override
332 virtual double getValue(
double t,
double s,
double ds)
const override
336 virtual void update(
double t0,
double s0,
double ds0)
override
376 virtual double getValue(
double t,
double s,
double ds)
const override
380 double ayset = -kappa*ds*ds;
384 virtual void update(
double t0,
double s0,
double ds0)
override
420 virtual double getValue(
double t,
double s,
double ds)
const override
425 virtual void update(
double t0,
double s0,
double ds0)
override
471 virtual double getValue(
double t,
double s,
double ds)
const override
475 return std::max(v_initially_constrained,v_limit);
478 virtual void update(
double t0,
double s0,
double ds0)
override
518 void update(
double t0,
double s0,
double ds0)
override
523 virtual double getValue(
double t,
double s,
double ds)
const override
560 virtual void update(
double t0,
double s0,
double ds0)
override{}
585 ref = -dkappads*ds*ds*ds;
588 virtual void update(
double t0,
double s0,
double ds0)
override{}
630 virtual void update(
double t0,
double s0,
double ds0)
override
673 const double dc = (dl+dr)*0.5;
675 if(dl<ref && ref<dr)ref = dc;
676 else if(dl<ref)ref = dl;
677 else if(ref<dr)ref = dr;
680 virtual void update(
double t0,
double s0,
double ds0)
override
722 double getValue(
double t,
double s,
double ds)
const override
726 double dc = (dl+dr)*0.5;
749 return dc+((
d_==
LB)?-0.01:+0.01);
776 virtual void update(
double t0,
double s0,
double ds0)
override
819 virtual double getValue(
double t,
double s,
double ds)
const override
831 virtual void update(
double t0,
double s0,
double ds0)
override
874 virtual double getValue(
double t,
double s,
double ds)
const override
878 virtual void update(
double t0,
double s0,
double ds0)
override
887 double object_v0 =
object.getCurrentSpeed();
888 double delay =
t0_ -
object.getObservationTime();
889 double object_s0 =
object.getCurrentProgress() -
object.getLength()*0.5 - to_front + delay * object_v0;
934 virtual double getValue(
double t,
double s,
double ds)
const override
940 virtual void update(
double t0,
double s0,
double ds0)
override
950 double object_v0 =
object.getCurrentSpeed();
951 double delay =
t0_ -
object.getObservationTime();
952 double object_s0 =
object.getCurrentProgress() -
object.getLength()*0.5 - to_front + delay * object_v0;
999 virtual double getValue(
double t,
double s,
double ds)
const override
1003 virtual void update(
double t0,
double s0,
double ds0)
override
1012 double object_v0 =
object.getCurrentSpeed();
1013 double delay =
t0_ -
object.getObservationTime();
1014 double object_s0 =
object.getCurrentProgress() -
object.getLength()*0.5 - to_front + delay * object_v0;
1069 virtual double getValue(
double t,
double s,
double ds)
const override
1073 virtual void update(
double t0,
double s0,
double ds0)
override
1080 double s_stop = ll.getProgress()-front_length;
1081 double distance = s_stop -s0;
1082 double v = ds0>1.0?ds0:0.0;
1083 bool braking_possible =
true;
1109 && !braking_possible)
1146 virtual double getValue(
double t,
double s,
double ds)
const override
1150 virtual void update(
double t0,
double s0,
double ds0)
override
1199 virtual double getValue(
double t,
double s,
double ds)
const override
1203 virtual void update(
double t0,
double s0,
double ds0)
override
Definition: anominalplanner.h:52
ConstraintDirection
Definition: anominalplanner.h:55
@ LB
Definition: anominalplanner.h:56
@ UB
Definition: anominalplanner.h:56
Definition: anominalplanner.h:96
Definition: basicconstraintsandreferences.h:1043
adore::view::ALimitLineEnRoute * nextLL_
Definition: basicconstraintsandreferences.h:1045
const adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:1046
const adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:1049
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:1116
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:1069
double s_max_
Definition: basicconstraintsandreferences.h:1050
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:1120
std::set< adore::view::LimitLine::EState > clearance_states_
Definition: basicconstraintsandreferences.h:1052
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:1073
AdhereToNextLimitLine(adore::view::ALimitLineEnRoute *nextLL)
Definition: basicconstraintsandreferences.h:1055
const adore::params::APVehicle * pveh_
Definition: basicconstraintsandreferences.h:1047
std::set< adore::view::LimitLine::EState > drivable_states_
Definition: basicconstraintsandreferences.h:1051
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:1124
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:1048
Definition: basicconstraintsandreferences.h:323
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:340
double distance_
Definition: basicconstraintsandreferences.h:328
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:344
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:332
adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:327
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:325
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:336
adore::params::APVehicle * pvehicle_
Definition: basicconstraintsandreferences.h:326
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:348
BreakAtHorizon(adore::view::ALane *lfv, adore::params::APVehicle *pvehicle, adore::params::APTrajectoryGeneration *pgen)
Definition: basicconstraintsandreferences.h:330
Definition: basicconstraintsandreferences.h:119
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:169
double a
Definition: basicconstraintsandreferences.h:125
CurvatureSpeedLimitPredict(adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon)
Definition: basicconstraintsandreferences.h:129
double smax_
Definition: basicconstraintsandreferences.h:123
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:161
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:165
CurvatureSpeedLimit csl_
Definition: basicconstraintsandreferences.h:121
double s_curvature_lookahead_
Definition: basicconstraintsandreferences.h:124
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:138
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:156
double sstep_
Definition: basicconstraintsandreferences.h:122
adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:126
Definition: basicconstraintsandreferences.h:73
CurvatureSpeedLimitSmooth(adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon)
Definition: basicconstraintsandreferences.h:80
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:102
CurvatureSpeedLimit csl_
Definition: basicconstraintsandreferences.h:75
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:98
int km
Definition: basicconstraintsandreferences.h:77
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:89
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:110
int kp
Definition: basicconstraintsandreferences.h:78
double dt
Definition: basicconstraintsandreferences.h:76
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:106
Definition: basicconstraintsandreferences.h:34
double lon_ayub_
Definition: basicconstraintsandreferences.h:38
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:45
CurvatureSpeedLimit(adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon)
Definition: basicconstraintsandreferences.h:41
adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:37
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:51
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:36
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:56
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:64
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:60
double vmin_ay_
Definition: basicconstraintsandreferences.h:39
Definition: basicconstraintsandreferences.h:504
double stopDistance_
Definition: basicconstraintsandreferences.h:510
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:523
adore::params::APVehicle * pvehicle_
Definition: basicconstraintsandreferences.h:507
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:535
void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:518
adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:509
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:506
adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:508
double distance_
Definition: basicconstraintsandreferences.h:511
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:531
DistanceToLaneEndConstraint(adore::view::ALane *lfv, adore::params::APVehicle *pvehicle, adore::params::APTrajectoryGeneration *pgen, adore::params::APTacticalPlanner *ptac)
Definition: basicconstraintsandreferences.h:513
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:527
Definition: basicconstraintsandreferences.h:178
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:185
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:181
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:194
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:186
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:190
DontDriveBackwards()
Definition: basicconstraintsandreferences.h:180
Definition: basicconstraintsandreferences.h:650
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:690
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:652
virtual bool getValueIfAvailable(double t, double s, double ds, double &ref) const override
Definition: basicconstraintsandreferences.h:669
FollowCenterlineReference(adore::view::ALane *lfv, double i_grid=0.0)
Definition: basicconstraintsandreferences.h:660
double w_
hard safety distance
Definition: basicconstraintsandreferences.h:657
double i_grid_
width of vehicle
Definition: basicconstraintsandreferences.h:658
adore::params::APVehicle * p_veh_
Definition: basicconstraintsandreferences.h:654
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:680
double d_
Definition: basicconstraintsandreferences.h:655
adore::params::APLateralPlanner * p_lat_
Definition: basicconstraintsandreferences.h:653
double dmax_
lateral grid scale
Definition: basicconstraintsandreferences.h:656
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:686
Definition: basicconstraintsandreferences.h:917
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:934
double t0_
Definition: basicconstraintsandreferences.h:926
const adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:920
double amin_
Definition: basicconstraintsandreferences.h:927
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:963
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:971
FollowPrecedingVehicle_BreakingCurve(adore::view::ALane *lane, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen)
Definition: basicconstraintsandreferences.h:929
double s_front_t0_
Definition: basicconstraintsandreferences.h:924
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:940
double v_front_t0_
Definition: basicconstraintsandreferences.h:925
adore::view::ALane * lane_
Definition: basicconstraintsandreferences.h:919
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:922
const adore::params::APVehicle * pveh_
Definition: basicconstraintsandreferences.h:921
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:967
Definition: basicconstraintsandreferences.h:858
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:903
double s_front_t0_
Definition: basicconstraintsandreferences.h:865
const adore::params::APVehicle * pveh_
Definition: basicconstraintsandreferences.h:862
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:878
const adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:861
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:899
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:907
double v_front_t0_
Definition: basicconstraintsandreferences.h:866
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:863
adore::view::ALane * lane_
Definition: basicconstraintsandreferences.h:860
double t0_
Definition: basicconstraintsandreferences.h:867
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:874
FollowPrecedingVehicle(adore::view::ALane *lane, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen)
Definition: basicconstraintsandreferences.h:869
Definition: basicconstraintsandreferences.h:409
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:438
double heading_lb_
Definition: basicconstraintsandreferences.h:413
ConstraintDirection d_
Definition: basicconstraintsandreferences.h:414
adore::params::APLateralPlanner * p_
Definition: basicconstraintsandreferences.h:411
double heading_ub_
Definition: basicconstraintsandreferences.h:412
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:420
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:434
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:430
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:425
HeadingConstraint(adore::params::APLateralPlanner *p, ConstraintDirection d)
Definition: basicconstraintsandreferences.h:416
Definition: basicconstraintsandreferences.h:453
double globalSpeedLimit_
Definition: basicconstraintsandreferences.h:458
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:478
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:489
double t0_
Definition: basicconstraintsandreferences.h:460
adore::params::APTacticalPlanner * p_
Definition: basicconstraintsandreferences.h:456
adore::params::APLongitudinalPlanner * p_long_
Definition: basicconstraintsandreferences.h:457
LFVSpeedLimit(adore::view::ALane *lfv, adore::params::APTacticalPlanner *p)
Definition: basicconstraintsandreferences.h:463
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:493
double ds0_
Definition: basicconstraintsandreferences.h:461
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:485
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:455
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:471
double amin_
Definition: basicconstraintsandreferences.h:459
Definition: basicconstraintsandreferences.h:203
double min_width_slow_speed_
Definition: basicconstraintsandreferences.h:209
double min_width_fast_speed_
Definition: basicconstraintsandreferences.h:211
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:205
double min_width_fast_
Definition: basicconstraintsandreferences.h:210
double min_width_stop_
Definition: basicconstraintsandreferences.h:207
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:251
LaneWidthSpeedLimitLFV(adore::view::ALane *lfv, const adore::params::APLongitudinalPlanner *plon)
Definition: basicconstraintsandreferences.h:213
double min_width_slow_
Definition: basicconstraintsandreferences.h:208
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:239
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:217
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:247
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:255
const adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:206
Definition: basicconstraintsandreferences.h:361
double curvature_lb_
Definition: basicconstraintsandreferences.h:368
LateralAccelerationConstraint(adore::view::ALane *lfv, adore::params::APLateralPlanner *p, ConstraintDirection d)
Definition: basicconstraintsandreferences.h:371
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:384
double ay_lb_
Definition: basicconstraintsandreferences.h:366
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:395
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:363
double ay_ub_
Definition: basicconstraintsandreferences.h:365
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:376
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:391
ConstraintDirection d_
Definition: basicconstraintsandreferences.h:369
double curvature_ub_
Definition: basicconstraintsandreferences.h:367
adore::params::APLateralPlanner * p_
Definition: basicconstraintsandreferences.h:364
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:399
Definition: basicconstraintsandreferences.h:547
virtual bool getValueIfAvailable(double t, double s, double ds, double &ref) const override
Definition: basicconstraintsandreferences.h:553
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:549
LateralAccelerationReference(adore::view::ALane *lfv)
Definition: basicconstraintsandreferences.h:551
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:565
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:560
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:561
Definition: basicconstraintsandreferences.h:575
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:577
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:593
virtual bool getValueIfAvailable(double t, double s, double ds, double &ref) const override
Definition: basicconstraintsandreferences.h:581
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:589
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:588
LateralJerkReference(adore::view::ALane *lfv)
Definition: basicconstraintsandreferences.h:579
Definition: basicconstraintsandreferences.h:700
double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:722
adore::params::APLateralPlanner * plat_
Definition: basicconstraintsandreferences.h:704
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:794
double s0_
Definition: basicconstraintsandreferences.h:711
double soft_safety_distance_
Definition: basicconstraintsandreferences.h:707
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:776
double width_
Definition: basicconstraintsandreferences.h:705
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:702
adore::params::APVehicle * pv_
Definition: basicconstraintsandreferences.h:703
double min_control_space_
Definition: basicconstraintsandreferences.h:708
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:790
double delay_s_
Definition: basicconstraintsandreferences.h:709
double hard_safety_distance_
Definition: basicconstraintsandreferences.h:706
ConstraintDirection d_
Definition: basicconstraintsandreferences.h:712
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:786
double delay_n_
Definition: basicconstraintsandreferences.h:710
LateralOffsetConstraintLF(adore::view::ALane *lfv, adore::params::APVehicle *pv, adore::params::APLateralPlanner *plat, ConstraintDirection d)
Definition: basicconstraintsandreferences.h:714
Definition: basicconstraintsandreferences.h:804
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:848
adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:806
double v_ax_ub_slow_
Definition: basicconstraintsandreferences.h:810
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:831
double ds0_
Definition: basicconstraintsandreferences.h:811
double t0_
Definition: basicconstraintsandreferences.h:812
ANominalConstraint::ConstraintDirection d_
Definition: basicconstraintsandreferences.h:813
double ax_ub_
Definition: basicconstraintsandreferences.h:807
LongitudinalAccelerationConstraint(adore::params::APLongitudinalPlanner *plon, ANominalConstraint::ConstraintDirection d)
Definition: basicconstraintsandreferences.h:815
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:840
double ax_ub_slow_
Definition: basicconstraintsandreferences.h:809
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:844
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:819
double ax_lb_
Definition: basicconstraintsandreferences.h:808
Definition: basicconstraintsandreferences.h:982
LowerBoundSGapToPrecedingVehicle(adore::view::ALane *lane, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen)
Definition: basicconstraintsandreferences.h:994
double t0_
Definition: basicconstraintsandreferences.h:991
adore::view::ALane * lane_
Definition: basicconstraintsandreferences.h:984
const adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:985
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:1003
double amin_
Definition: basicconstraintsandreferences.h:992
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:1025
double s_front_t0_
Definition: basicconstraintsandreferences.h:989
const adore::params::APVehicle * pveh_
Definition: basicconstraintsandreferences.h:986
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:1033
double v_front_t0_
Definition: basicconstraintsandreferences.h:990
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:1029
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:987
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:999
Definition: basicconstraintsandreferences.h:603
NominalReferenceSpeed(adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon, adore::params::APTacticalPlanner *ptac)
Definition: basicconstraintsandreferences.h:612
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:636
virtual bool getValueIfAvailable(double t, double s, double ds, double &ref) const override
Definition: basicconstraintsandreferences.h:618
double constraintClearance_
Definition: basicconstraintsandreferences.h:609
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:630
LFVSpeedLimit lFVSpeedLimit_
Definition: basicconstraintsandreferences.h:606
CurvatureSpeedLimit curvatureSpeedLimit_
Definition: basicconstraintsandreferences.h:607
adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:608
void setSpeedScale(double value)
Definition: basicconstraintsandreferences.h:626
double speed_scale_
Definition: basicconstraintsandreferences.h:610
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:640
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:605
Definition: basicconstraintsandreferences.h:264
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:283
const adore::params::APTacticalPlanner * ptac_
Definition: basicconstraintsandreferences.h:270
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:312
adore::view::ALane * lfv_
Definition: basicconstraintsandreferences.h:266
const adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:267
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:269
StopAtBottleneckLFV(adore::view::ALane *lfv, const adore::params::APLongitudinalPlanner *plon, const adore::params::APVehicle *pv, const adore::params::APTrajectoryGeneration *pgen, const adore::params::APTacticalPlanner *ptac)
Definition: basicconstraintsandreferences.h:274
double distance_
Definition: basicconstraintsandreferences.h:271
const adore::params::APVehicle * pv_
Definition: basicconstraintsandreferences.h:268
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:304
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:308
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:287
double ds_sample_
Definition: basicconstraintsandreferences.h:272
Definition: basicconstraintsandreferences.h:1179
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:1221
const adore::view::AConflictPointSet * conflicts_
Definition: basicconstraintsandreferences.h:1181
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:1203
adore::params::APLongitudinalPlanner * plon_
Definition: basicconstraintsandreferences.h:1185
void setView(adore::view::AConflictPointSet *conflicts)
Definition: basicconstraintsandreferences.h:1188
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:1199
StopAtNextConflictPoint(const adore::view::AConflictPointSet *conflicts)
Definition: basicconstraintsandreferences.h:1192
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:1213
double distance_to_point_
Definition: basicconstraintsandreferences.h:1182
double smax_
Definition: basicconstraintsandreferences.h:1183
adore::params::APVehicle * pvehicle_
Definition: basicconstraintsandreferences.h:1184
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:1217
Definition: basicconstraintsandreferences.h:1133
const adore::params::APVehicle * pveh_
Definition: basicconstraintsandreferences.h:1136
virtual double getValue(double t, double s, double ds) const override
Definition: basicconstraintsandreferences.h:1146
virtual int getDimension() override
Definition: basicconstraintsandreferences.h:1165
const adore::view::ANavigationGoalView * next_
Definition: basicconstraintsandreferences.h:1135
StopAtNextGoalPoint(const adore::view::ANavigationGoalView *next)
Definition: basicconstraintsandreferences.h:1140
const adore::params::APTrajectoryGeneration * pgen_
Definition: basicconstraintsandreferences.h:1137
virtual ConstraintDirection getDirection() override
Definition: basicconstraintsandreferences.h:1161
virtual int getDerivative() override
Definition: basicconstraintsandreferences.h:1169
virtual void update(double t0, double s0, double ds0) override
Definition: basicconstraintsandreferences.h:1150
double s_max_
Definition: basicconstraintsandreferences.h:1138
virtual APLateralPlanner * getLateralPlanner() const =0
virtual APTacticalPlanner * getTacticalPlanner() const =0
virtual APTrajectoryGeneration * getTrajectoryGeneration() const =0
virtual APVehicle * getVehicle() const =0
virtual APLongitudinalPlanner * getLongitudinalPlanner() const =0
abstract class containing parameters related to configuring the lateral planner
Definition: ap_lateral_planner.h:26
virtual double getMinimumLateralControlSpace() const =0
getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more ...
virtual double getRelativeHeadingUB() const =0
getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system
virtual double getAccLB() const =0
getAccLB returns lateral acceleration lower bound
virtual double getAccUB() const =0
getAccUB returns lateral acceleration upper bound
virtual double getLateralGridScale() const =0
getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver ...
virtual double getCurvatureUB() const =0
getCurvatureUB returns maximum curvature of path (relevant at low speeds)
virtual double getCurvatureLB() const =0
getCurvatureLB returns minimum curvature of path (relevant at low speeds)
virtual double getHardSafetyDistanceToLaneBoundary() const =0
getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle si...
virtual double getMergeConstraintDelay() const =0
getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated,...
virtual double getSoftSafetyDistanceToLaneBoundary() const =0
getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle si...
virtual double getRelativeHeadingLB() const =0
getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system
abstract class containing parameters related to configuring the longitudinal planner
Definition: ap_longitudinal_planner.h:26
virtual double getAccLatUB() const =0
getAccLatUB returns the absolute lateral acceleration bound which has to be maintained by reducing sp...
virtual double getVAccUBSlow() const =0
getVAccUBSlow returns speed up to which slow speed acceleration is used
virtual double getAccUBSlow() const =0
getAccUBSlow returns acceleration upper bound at low speeds
virtual double getAccLatUB_minVelocity() const =0
getAccLatUB_minVelocity returns the minimum velocity, which is always feasible despite getAccLatUB
virtual double getMinWidthFastSpeed() const =0
getMinWidthFastSpeed returns the fast speed to be applied, if lane width equals minWidthFast: Should ...
virtual double stopAtRedLights_max_connection_length() const =0
stopAtRedLights_max_connection_length returns the maximum length for which clearance based on tcd sta...
virtual bool stopAtRedLights_always_before() const =0
determin stop mode for red lights: true - always before red light, continue driving after; false - ba...
virtual double getMinWidthStop() const =0
getMinWidthStop returns the minimum lane width, below/at which vehicle stops: Should be greater or eq...
virtual double getConstraintClearanceVel() const =0
getConstraintClearanceVel returns the offset of the reference from the velocity constraints
virtual double getMinWidthSlow() const =0
getMinWidthSlow returns the minimum lane width, below/at which vehicle moves slowly: Should be greate...
virtual double getAccUB() const =0
getAccUB returns longitudinal acceleration upper bound
virtual double getStopDistanceToConflictPoint() const =0
distance between stop position and conflict point
virtual double getComfortAccLB() const =0
getAccLB returns longitudinal acceleration lower bound
virtual double getMinWidthFast() const =0
getMinWidthFast returns the minimum lane width, below/at which vehicle moves fast: Should be greater ...
virtual double getAccLB() const =0
getAccLB returns longitudinal acceleration lower bound
virtual double getMinWidthSlowSpeed() const =0
getMinWidthSlowSpeed returns the slow speed to be applied, if lane width equals minWidthSlow: Should ...
abstract classs containing parameters to configure aspects and constraints of the tactical planner
Definition: ap_tactical_planner.h:25
virtual double getGlobalSpeedLimit() const =0
virtual double getFrontSGap() const =0
virtual double getFrontTimeGap() const =0
virtual double getLowerBoundFrontSGapForLF() const =0
virtual double getHorizonStopReferenceDistance() const =0
virtual double getAssumedNominalAccelerationMinimum() const =0
abstract class containing parameters to configure the behaviour of trajectory generation
Definition: ap_trajectory_generation.h:26
virtual double get_rho() const =0
cor to planning point: movement of planning point shall planned by the trajectory planner
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
virtual double get_b() const =0
rear axle to cog
virtual double get_bodyWidth() const =0
virtual double get_d() const =0
rear border to rear axle
virtual double get_a() const =0
cog to front axle
virtual double get_c() const =0
front axle to front border
static adore::params::AFactory * get()
Definition: afactory.h:103
Definition: aconflictpoint.h:29
virtual int size() const =0
virtual ConflictPoint getPoint(int i) const =0
virtual double getSpeedLimit(double s)=0
virtual const TrafficQueue & getOnLaneTraffic() const =0
virtual double getOffsetOfRightBorder(double s)=0
virtual double getSMax() const =0
virtual double getOffsetOfLeftBorder(double s)=0
virtual double getCurvature(double s, int derivative)=0
Definition: alimitlineenroute.h:26
virtual bool hasLimitLine(double s0)=0
virtual LimitLine getLimitLine(double t0, double s0)=0
Definition: anavigationgoalview.h:25
virtual const bool isNextGoalPointInView() const =0
virtual const double getProgress() const =0
virtual const bool isNextGoalPointFinal() const =0
T min(T a, T b, T c, T d)
Definition: adoremath.h:663
adoreMatrix< T, N, M > max(adoreMatrix< T, N, M > a, const adoreMatrix< T, N, M > &b)
Definition: adoremath.h:686
std::vector< TrafficObject > TrafficQueue
Definition: trafficobject.h:183
Definition: areaofeffectconverter.h:20
@ permissive_clearance
Definition: limitline.h:49
@ permissive_Movement_Allowed
Definition: limitline.h:47
@ caution_Conflicting_Traffic
Definition: limitline.h:51
@ dark
Definition: limitline.h:43
@ protected_clearance
Definition: limitline.h:50
@ protected_Movement_Allowed
Definition: limitline.h:48