adore::apps::TacticalPlanner Class Reference

Decision making and maneuver planning. More...

#include <tactical_planner.h>

Collaboration diagram for adore::apps::TacticalPlanner:

Public Member Functions
adore::fun::EvaluatorWeightedSum *	getEvaluator ()
	TacticalPlanner (double iteration_time_length)
	constructur More...
virtual	~TacticalPlanner ()
void	run ()
	retrieve planning results, dispatch and formulate new planning request More...

Private Attributes
adore::params::APNavigation *	pNavigation_
adore::params::APTrajectoryGeneration *	pTrajectoryGeneration_
adore::params::APTacticalPlanner *	pTacticalPlanner_
adore::fun::AFactory::TMotionStateReader *	vehicle_state_reader_
adore::fun::AFactory::TPlanningRequestWriter *	request_writer_
adore::fun::AFactory::TPlanningResultFeed *	result_reader_
adore::fun::AFactory::TPlanningResultWriter *	select_writer_
adore::env::AFactory::TPropositionWriter *	proposition_writer_
adore::fun::SetPointRequestDispatcher	spr_dispatcher_
adore::fun::IndicatorDispatcher	indicator_dispatcher_
adore::env::AFactory::TNavigationGoalReader *	navigation_goal_reader_
adore::env::AFactory::TResetLaneMatchingWriter *	lane_view_reset_writer_
uint64_t	iteration_
adore::fun::EvaluatorWeightedSum	evaluator_
adore::fun::PlanningResult	best_planning_result_
double	iteration_time_length_
double	last_time_
double	cost_bound_
double	cost_bound_guard_
double	lanechange_supression_timeout_
double	force_langechange_left_timeout_
double	force_langechange_right_timeout_
double	force_slow_maneuver_timeout_
std::string	cost_bound_name_
fun::TurnSignalObserver	turn_signal_observer_
fun::UserInputObserver	user_input_observer_
adore::fun::AFactory::TLanechangeSuppressionReader *	langechange_suppression_reader_
adore::fun::AFactory::TForceLanechangeLeftReader *	force_langechange_left_reader_
adore::fun::AFactory::TForceLanechangeRightReader *	force_langechange_right_reader_
adore::fun::AFactory::TForceSlowManeuversReader *	force_slow_maneuvers_reader_

Detailed Description

Decision making and maneuver planning.

Constructor & Destructor Documentation

TacticalPlanner()

adore::apps::TacticalPlanner::TacticalPlanner ( double  iteration_time_length )

inline

constructur

Parameters

iteration_time_length

provide information how long iteration should take: influences planning request

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~TacticalPlanner()

virtual adore::apps::TacticalPlanner::~TacticalPlanner ( )

inlinevirtual

Member Function Documentation

getEvaluator()

adore::fun::EvaluatorWeightedSum* adore::apps::TacticalPlanner::getEvaluator ( )

inline

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run()

void adore::apps::TacticalPlanner::run ( )

inline

retrieve planning results, dispatch and formulate new planning request

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Member Data Documentation

best_planning_result_

adore::fun::PlanningResult adore::apps::TacticalPlanner::best_planning_result_

private

last active trajectory: might be active for >1 iterations, when no new, valid trajectory is found

cost_bound_

double adore::apps::TacticalPlanner::cost_bound_

private

the current bound on navigation cost

cost_bound_guard_

double adore::apps::TacticalPlanner::cost_bound_guard_

private

maximum value of navigation cost

cost_bound_name_

std::string adore::apps::TacticalPlanner::cost_bound_name_

private

timeout for the lanechange suppression navigation cost name

evaluator_

adore::fun::EvaluatorWeightedSum adore::apps::TacticalPlanner::evaluator_

private

evaluate trajectories with weighted sum of individual cost functions

force_langechange_left_reader_

adore::fun::AFactory::TForceLanechangeLeftReader* adore::apps::TacticalPlanner::force_langechange_left_reader_

private

force_langechange_left_timeout_

double adore::apps::TacticalPlanner::force_langechange_left_timeout_

private

timeout for the lanechange suppression

force_langechange_right_reader_

adore::fun::AFactory::TForceLanechangeRightReader* adore::apps::TacticalPlanner::force_langechange_right_reader_

private

force_langechange_right_timeout_

double adore::apps::TacticalPlanner::force_langechange_right_timeout_

private

timeout for force langechange left

force_slow_maneuver_timeout_

double adore::apps::TacticalPlanner::force_slow_maneuver_timeout_

private

timeout for force langechange right

force_slow_maneuvers_reader_

adore::fun::AFactory::TForceSlowManeuversReader* adore::apps::TacticalPlanner::force_slow_maneuvers_reader_

private

indicator_dispatcher_

adore::fun::IndicatorDispatcher adore::apps::TacticalPlanner::indicator_dispatcher_

private

publish indicator command based on vehicle state and selected maneuver

iteration_

uint64_t adore::apps::TacticalPlanner::iteration_

private

iteration_time_length_

double adore::apps::TacticalPlanner::iteration_time_length_

private

duration of one iteration

lane_view_reset_writer_

adore::env::AFactory::TResetLaneMatchingWriter* adore::apps::TacticalPlanner::lane_view_reset_writer_

private

send signal for lane matching reset

lanechange_supression_timeout_

double adore::apps::TacticalPlanner::lanechange_supression_timeout_

private

langechange_suppression_reader_

adore::fun::AFactory::TLanechangeSuppressionReader* adore::apps::TacticalPlanner::langechange_suppression_reader_

private

last_time_

double adore::apps::TacticalPlanner::last_time_

private

time of last planning iteration

navigation_goal_reader_

adore::env::AFactory::TNavigationGoalReader* adore::apps::TacticalPlanner::navigation_goal_reader_

private

track navigation goal updates: on change reset cost bound

pNavigation_

adore::params::APNavigation* adore::apps::TacticalPlanner::pNavigation_

private

parameters

proposition_writer_

adore::env::AFactory::TPropositionWriter* adore::apps::TacticalPlanner::proposition_writer_

private

output proposition VALID_MANEUVER_AVAILABLE

pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TacticalPlanner::pTacticalPlanner_

private

parameters

pTrajectoryGeneration_

adore::params::APTrajectoryGeneration* adore::apps::TacticalPlanner::pTrajectoryGeneration_

private

parameters

request_writer_

adore::fun::AFactory::TPlanningRequestWriter* adore::apps::TacticalPlanner::request_writer_

private

formulate planning requests for planning processes

result_reader_

adore::fun::AFactory::TPlanningResultFeed* adore::apps::TacticalPlanner::result_reader_

private

retrieve result of planning processes

select_writer_

adore::fun::AFactory::TPlanningResultWriter* adore::apps::TacticalPlanner::select_writer_

private

publish selected result of planning processes

spr_dispatcher_

adore::fun::SetPointRequestDispatcher adore::apps::TacticalPlanner::spr_dispatcher_

private

publish setpointrequests and retrieve initial state for next planning iteration

turn_signal_observer_

fun::TurnSignalObserver adore::apps::TacticalPlanner::turn_signal_observer_

private

tracking of turn signal changes

user_input_observer_

fun::UserInputObserver adore::apps::TacticalPlanner::user_input_observer_

private

handling user input

vehicle_state_reader_

adore::fun::AFactory::TMotionStateReader* adore::apps::TacticalPlanner::vehicle_state_reader_

private

get the time stamp of latest vehicle state

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The documentation for this class was generated from the following file:

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/tactical_planner.h