ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::apps::TestMRMPlanner Class Reference

test bench implementation for minimum risk maneuver planner More...

#include <test_mrm_planner.h>

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Public Member Functions

 TestMRMPlanner (adore::env::AFactory *envFactory, adore::fun::AFactory *funFactory, adore::params::AFactory *PARAMS_Factory)
 
 ~TestMRMPlanner ()
 
void run ()
 update function of the trajectory planner More...
 
void plot ()
 
void init_plot ()
 

Private Types

typedef adore::fun::MRMPlanner< 20, 5 > TPlanner
 

Private Attributes

adore::env::AFactoryenvFactory_
 
adore::fun::AFactoryfunFactory_
 
adore::params::AFactoryparamsFactory_
 
adore::params::APVehiclepvehicle_
 
adore::params::APTacticalPlannerpTacticalPlanner_
 
adore::params::APLateralPlannerplat_
 
adore::env::BorderBased::LocalRoadMap roadmap_
 
adore::env::traffic::TrafficMap trafficMap_
 
adore::env::BorderBased::LaneFollowingView lfv_
 
adore::mad::AReader< adore::fun::VehicleMotionState9d > * xreader_
 
adore::mad::AWriter< adore::fun::SetPointRequest > * wwriter_
 
adore::fun::VehicleMotionState9d x_
 
TPlannerplanner_
 
adore::fun::FollowCenterlineReferencefollowCenterlineReference_
 
adore::fun::LateralAccelerationReferencelateralAccelerationReference_
 
adore::fun::LateralJerkReferencelateralJerkReference_
 
adore::fun::LateralOffsetConstraintLFlateralOffsetConstraintLFUB_
 
adore::fun::LateralOffsetConstraintLFlateralOffsetConstraintLFLB_
 
adore::fun::HeadingConstraintheadingConstraintUB_
 
adore::fun::HeadingConstraintheadingConstraintLB_
 
adore::fun::FollowPrecedingVehiclefollowVehicleConstraint_
 
DLR_TS::PlotLab::FigureStubFactoryfig_factory
 
DLR_TS::PlotLab::AFigureStubfigure_lon1
 
DLR_TS::PlotLab::AFigureStubfigure_lon2
 
DLR_TS::PlotLab::AFigureStubfigure_lat1
 
DLR_TS::PlotLab::AFigureStubfigure_lat2
 

Detailed Description

test bench implementation for minimum risk maneuver planner

Member Typedef Documentation

◆ TPlanner

Constructor & Destructor Documentation

◆ TestMRMPlanner()

adore::apps::TestMRMPlanner::TestMRMPlanner ( adore::env::AFactory envFactory,
adore::fun::AFactory funFactory,
adore::params::AFactory PARAMS_Factory 
)
inline
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◆ ~TestMRMPlanner()

adore::apps::TestMRMPlanner::~TestMRMPlanner ( )
inline

Member Function Documentation

◆ init_plot()

void adore::apps::TestMRMPlanner::init_plot ( )
inline
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◆ plot()

void adore::apps::TestMRMPlanner::plot ( )
inline
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◆ run()

void adore::apps::TestMRMPlanner::run ( )
inline

update function of the trajectory planner

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Member Data Documentation

◆ envFactory_

adore::env::AFactory* adore::apps::TestMRMPlanner::envFactory_
private

◆ fig_factory

DLR_TS::PlotLab::FigureStubFactory* adore::apps::TestMRMPlanner::fig_factory
private

◆ figure_lat1

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lat1
private

◆ figure_lat2

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lat2
private

◆ figure_lon1

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lon1
private

◆ figure_lon2

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lon2
private

◆ followCenterlineReference_

adore::fun::FollowCenterlineReference* adore::apps::TestMRMPlanner::followCenterlineReference_
private

reference for lateral position: follow the middle of the lane

◆ followVehicleConstraint_

adore::fun::FollowPrecedingVehicle* adore::apps::TestMRMPlanner::followVehicleConstraint_
private

post-processing constraint for longitudinal plan

◆ funFactory_

adore::fun::AFactory* adore::apps::TestMRMPlanner::funFactory_
private

◆ headingConstraintLB_

adore::fun::HeadingConstraint* adore::apps::TestMRMPlanner::headingConstraintLB_
private

constraint for deviation from road direction

◆ headingConstraintUB_

adore::fun::HeadingConstraint* adore::apps::TestMRMPlanner::headingConstraintUB_
private

constraint for deviation from road direction

◆ lateralAccelerationReference_

adore::fun::LateralAccelerationReference* adore::apps::TestMRMPlanner::lateralAccelerationReference_
private

curvature compensation

◆ lateralJerkReference_

adore::fun::LateralJerkReference* adore::apps::TestMRMPlanner::lateralJerkReference_
private

lateral jerk compensation

◆ lateralOffsetConstraintLFLB_

adore::fun::LateralOffsetConstraintLF* adore::apps::TestMRMPlanner::lateralOffsetConstraintLFLB_
private

lateral position bounds governed by lane boundaries

◆ lateralOffsetConstraintLFUB_

adore::fun::LateralOffsetConstraintLF* adore::apps::TestMRMPlanner::lateralOffsetConstraintLFUB_
private

lateral position bounds governed by lane boundaries

◆ lfv_

adore::env::BorderBased::LaneFollowingView adore::apps::TestMRMPlanner::lfv_
private

◆ paramsFactory_

adore::params::AFactory* adore::apps::TestMRMPlanner::paramsFactory_
private

◆ planner_

TPlanner* adore::apps::TestMRMPlanner::planner_
private

◆ plat_

adore::params::APLateralPlanner* adore::apps::TestMRMPlanner::plat_
private

◆ pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TestMRMPlanner::pTacticalPlanner_
private

◆ pvehicle_

adore::params::APVehicle* adore::apps::TestMRMPlanner::pvehicle_
private

◆ roadmap_

adore::env::BorderBased::LocalRoadMap adore::apps::TestMRMPlanner::roadmap_
private

◆ trafficMap_

adore::env::traffic::TrafficMap adore::apps::TestMRMPlanner::trafficMap_
private

◆ wwriter_

adore::mad::AWriter<adore::fun::SetPointRequest>* adore::apps::TestMRMPlanner::wwriter_
private

◆ x_

adore::fun::VehicleMotionState9d adore::apps::TestMRMPlanner::x_
private

◆ xreader_

adore::mad::AReader<adore::fun::VehicleMotionState9d>* adore::apps::TestMRMPlanner::xreader_
private

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