#include <area_of_effect_provider.h>
Public Member Functions | |
AreaOfEffectProvider (double resolution=1.0) | |
void | run () |
void | computeSValues (adore::view::AThreeLaneView *view, double X0, double Y0) |
void | sampleLane (adore::view::ALane *lane, double s0, double s1, adore::env::AreaOfEffect &area, double n_shrink_aoi=0.0) |
Private Types | |
using | EnvFactory = adore::env::EnvFactoryInstance |
using | ParamsFactory = adore::params::ParamsFactoryInstance |
Private Attributes | |
adore::env::AFactory::TAreaOfEffectWriter * | writer_aoe_ |
adore::env::AFactory::TAreaOfEffectWriter * | writer_aoi_ |
adore::env::AFactory::TVehicleMotionStateReader * | xreader_ |
adore::env::ThreeLaneViewDecoupled | three_lanes_ |
adore::params::APPrediction * | params_ |
double | resolution_ |
double | lookbehind_ |
std::vector< double > | s_ |
Provides boundary of area, which is currently reachable by vehicle: ThreeLaneView is processed to compute and publish outline.
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prediction parameters
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s values encircling the area of effect in ccw direction
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lane-based representation of environment
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write output: aoe
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write output: aoi
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read vehicle state to crop lane view behind behind vehicle