63 double lateral_i_grid = 0.0)
75 this->
getOffsetSolver().getInformationSet().add(&followCenterlineReference_);
76 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationReference_);
77 this->
getOffsetSolver().getInformationSet().add(&lateralJerkReference_);
78 this->
getOffsetSolver().getInformationSet().add(&lateralOffsetConstraintLFUB_);
79 this->
getOffsetSolver().getInformationSet().add(&lateralOffsetConstraintLFLB_);
82 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationConstraintUB_);
83 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationConstraintLB_);
88 this->info_.add(constraint);
93 this->info_.add(reference);
Definition: anominalplanner.h:52
Definition: anominalplanner.h:96
Plans minimum risk maneuvers on given lane. K number of control points for planning....
Definition: basicmrmplanner.h:36
LateralAccelerationReference lateralAccelerationReference_
Definition: basicmrmplanner.h:39
HeadingConstraint headingConstraintLB_
Definition: basicmrmplanner.h:44
LateralJerkReference lateralJerkReference_
Definition: basicmrmplanner.h:40
LateralOffsetConstraintLF lateralOffsetConstraintLFUB_
Definition: basicmrmplanner.h:41
void addReference(ANominalReference *reference)
Definition: basicmrmplanner.h:91
BasicMRMPlanner(adore::view::ALane *lfv, adore::params::APLateralPlanner *plat, adore::params::APTacticalPlanner *ptac, adore::params::APVehicle *pveh, adore::params::APTrajectoryGeneration *ptrajectory, double lateral_i_grid=0.0)
Definition: basicmrmplanner.h:58
FollowCenterlineReference followCenterlineReference_
Definition: basicmrmplanner.h:38
void addConstraint(ANominalConstraint *constraint)
Definition: basicmrmplanner.h:86
LateralAccelerationConstraint lateralAccelerationConstraintLB_
Definition: basicmrmplanner.h:46
LateralAccelerationConstraint lateralAccelerationConstraintUB_
Definition: basicmrmplanner.h:45
LateralOffsetConstraintLF lateralOffsetConstraintLFLB_
Definition: basicmrmplanner.h:42
HeadingConstraint headingConstraintUB_
Definition: basicmrmplanner.h:43
Definition: basicconstraintsandreferences.h:650
Definition: basicconstraintsandreferences.h:409
Definition: basicconstraintsandreferences.h:361
Definition: basicconstraintsandreferences.h:547
Definition: basicconstraintsandreferences.h:575
Definition: basicconstraintsandreferences.h:700
Definition: mrmplanner.h:32
LateralPlanner< K, P > & getOffsetSolver()
Definition: mrmplanner.h:259
abstract class containing parameters related to configuring the lateral planner
Definition: ap_lateral_planner.h:26
abstract classs containing parameters to configure aspects and constraints of the tactical planner
Definition: ap_tactical_planner.h:25
abstract class containing parameters to configure the behaviour of trajectory generation
Definition: ap_trajectory_generation.h:26
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
Definition: areaofeffectconverter.h:20