test bench implementation for minimum risk maneuver planner More...
#include <test_mrm_planner.h>
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 |
test bench implementation for minimum risk maneuver planner
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update function of the trajectory planner
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reference for lateral position: follow the middle of the lane
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post-processing constraint for longitudinal plan
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constraint for deviation from road direction
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constraint for deviation from road direction
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curvature compensation
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lateral jerk compensation
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lateral position bounds governed by lane boundaries
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lateral position bounds governed by lane boundaries
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