adore::apps::TrajectoryPlannerALC Class Reference

Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest Computes a lane change trajectory using advanced lane change planner. More...

#include <trajectory_planner_alc.h>

Inheritance diagram for adore::apps::TrajectoryPlannerALC:

Collaboration diagram for adore::apps::TrajectoryPlannerALC:

Public Member Functions
virtual	~TrajectoryPlannerALC ()
void	setEMContinueActive (bool value)
void	setEMCancelActive (bool value)
	TrajectoryPlannerALC (bool directionLeft, std::string name, int id, double lateral_i_grid)
void	setSpeedScale (double value)
void	setConstPenalty (double value)
virtual void	computeTrajectory (const adore::fun::PlanningRequest &planning_request, adore::fun::PlanningResult &planning_result) override
	update data, views and recompute maneuver More...
Public Member Functions inherited from adore::apps::TrajectoryPlannerBase
virtual	~TrajectoryPlannerBase ()
	TrajectoryPlannerBase ()
void	prime ()
void	planning_request_handler ()

Private Types
typedef adore::fun::AdvancedLaneChangePlanner< 20, 5 >	TNominalPlanner
typedef adore::fun::CancelLCMRMPlanner< 20, 5 >	TEmergencyPlanner1
typedef adore::fun::ContinueLCMRMPlanner< 20, 5 >	TEmergencyPlanner2

Private Attributes
TNominalPlanner *	nominal_planner_
TEmergencyPlanner1 *	emergency_planner1_
TEmergencyPlanner2 *	emergency_planner2_
adore::env::ThreeLaneViewDecoupled	three_lanes_
adore::params::APVehicle *	pvehicle_
adore::params::APTacticalPlanner *	pTacticalPlanner_
adore::params::APTrajectoryGeneration *	pTrajectoryGeneration_
adore::params::APEmergencyOperation *	pEmergencyOperation_
adore::env::NavigationGoalObserver	ngo_
adore::env::ControlledConnectionSet4Ego	connectionSet_
adore::env::ControlledConnectionSet4Ego	checkPointSet_
adore::env::ConnectionsOnLane *	connectionsOnLaneSource_
adore::env::ConnectionsOnLane *	connectionsOnLaneTarget_
adore::env::ConnectionsOnLane *	checkPointsOnTargetLane_
adore::env::ConnectionsOnLane *	checkPointsOnSourceLane_
adore::env::DecoupledTrafficPredictionView	prediction_
adore::env::EmptyGap	gap_
adore::fun::SPRTTCNominal	ttcCost_
adore::fun::SPRNonCoercive	coercion_detection_
adore::fun::SPRInvariantCollisionFreedom	collision_detection_
int	id_
std::string	plannerName_
bool	directionLeft_
bool	gapTrackingActive_
double	lateral_i_grid_
double	const_penalty_
double	gapX_
double	gapY_
double	gapT_
double	gapv_
double	gaps_
bool	em_continue_active_
bool	em_cancel_active_

Detailed Description

Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest Computes a lane change trajectory using advanced lane change planner.

Member Typedef Documentation

TEmergencyPlanner1

typedef adore::fun::CancelLCMRMPlanner<20,5> adore::apps::TrajectoryPlannerALC::TEmergencyPlanner1

private

TEmergencyPlanner2

typedef adore::fun::ContinueLCMRMPlanner<20,5> adore::apps::TrajectoryPlannerALC::TEmergencyPlanner2

private

TNominalPlanner

typedef adore::fun::AdvancedLaneChangePlanner<20,5> adore::apps::TrajectoryPlannerALC::TNominalPlanner

private

Constructor & Destructor Documentation

~TrajectoryPlannerALC()

virtual adore::apps::TrajectoryPlannerALC::~TrajectoryPlannerALC ( )

inlinevirtual

de/cativate emergency maenuver for canceling of lane change

TrajectoryPlannerALC()

adore::apps::TrajectoryPlannerALC::TrajectoryPlannerALC ( bool  directionLeft, std::string  name, int  id, double  lateral_i_grid  )

inline

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Member Function Documentation

computeTrajectory()

virtual void adore::apps::TrajectoryPlannerALC::computeTrajectory ( const adore::fun::PlanningRequest &  planning_request, adore::fun::PlanningResult &  planning_result  )

inlineoverridevirtual

update data, views and recompute maneuver

Implements adore::apps::TrajectoryPlannerBase.

setConstPenalty()

void adore::apps::TrajectoryPlannerALC::setConstPenalty ( double  value )

inline

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setEMCancelActive()

void adore::apps::TrajectoryPlannerALC::setEMCancelActive ( bool  value )

inline

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setEMContinueActive()

void adore::apps::TrajectoryPlannerALC::setEMContinueActive ( bool  value )

inline

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setSpeedScale()

void adore::apps::TrajectoryPlannerALC::setSpeedScale ( double  value )

inline

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Member Data Documentation

checkPointSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerALC::checkPointSet_

private

state of checkPoints in area

checkPointsOnSourceLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerALC::checkPointsOnSourceLane_

private

map controlled connections to lane

checkPointsOnTargetLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerALC::checkPointsOnTargetLane_

private

coercion_detection_

adore::fun::SPRNonCoercive adore::apps::TrajectoryPlannerALC::coercion_detection_

private

collision detection vs expected behavior

collision_detection_

adore::fun::SPRInvariantCollisionFreedom adore::apps::TrajectoryPlannerALC::collision_detection_

private

combined maneuver post-processing constraints collision detection with traffic predictions

connectionSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerALC::connectionSet_

private

state of controlled connections in area

connectionsOnLaneSource_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerALC::connectionsOnLaneSource_

private

connectionsOnLaneTarget_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerALC::connectionsOnLaneTarget_

private

map controlled connections to lane

const_penalty_

double adore::apps::TrajectoryPlannerALC::const_penalty_

private

directionLeft_

bool adore::apps::TrajectoryPlannerALC::directionLeft_

private

true if lane change to the left

em_cancel_active_

bool adore::apps::TrajectoryPlannerALC::em_cancel_active_

private

em_continue_active_

bool adore::apps::TrajectoryPlannerALC::em_continue_active_

private

de/activate emergency maneuver for continuation of lane change

emergency_planner1_

TEmergencyPlanner1* adore::apps::TrajectoryPlannerALC::emergency_planner1_

private

emergency_planner2_

TEmergencyPlanner2* adore::apps::TrajectoryPlannerALC::emergency_planner2_

private

gap_

adore::env::EmptyGap adore::apps::TrajectoryPlannerALC::gap_

private

an empty gap for testing

gaps_

double adore::apps::TrajectoryPlannerALC::gaps_

private

last s-progress associated with gapX_ and gapY_

gapT_

double adore::apps::TrajectoryPlannerALC::gapT_

private

last time of iteration

gapTrackingActive_

bool adore::apps::TrajectoryPlannerALC::gapTrackingActive_

private

true if gap tracking was active in last iteration

gapv_

double adore::apps::TrajectoryPlannerALC::gapv_

private

last observed speed of gap

gapX_

double adore::apps::TrajectoryPlannerALC::gapX_

private

penalty, which is always added to cost last X position of gap

gapY_

double adore::apps::TrajectoryPlannerALC::gapY_

private

last Y position of gap

id_

int adore::apps::TrajectoryPlannerALC::id_

private

integral id to be written to PlanningResult

lateral_i_grid_

double adore::apps::TrajectoryPlannerALC::lateral_i_grid_

private

offset variation index

ngo_

adore::env::NavigationGoalObserver adore::apps::TrajectoryPlannerALC::ngo_

private

nominal_planner_

TNominalPlanner* adore::apps::TrajectoryPlannerALC::nominal_planner_

private

pEmergencyOperation_

adore::params::APEmergencyOperation* adore::apps::TrajectoryPlannerALC::pEmergencyOperation_

private

plannerName_

std::string adore::apps::TrajectoryPlannerALC::plannerName_

private

human readable planner name written to PlanningResult

prediction_

adore::env::DecoupledTrafficPredictionView adore::apps::TrajectoryPlannerALC::prediction_

private

map controlled connections to lane collision detection based representation of traffic

pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TrajectoryPlannerALC::pTacticalPlanner_

private

pTrajectoryGeneration_

adore::params::APTrajectoryGeneration* adore::apps::TrajectoryPlannerALC::pTrajectoryGeneration_

private

pvehicle_

adore::params::APVehicle* adore::apps::TrajectoryPlannerALC::pvehicle_

private

three_lanes_

adore::env::ThreeLaneViewDecoupled adore::apps::TrajectoryPlannerALC::three_lanes_

private

lane-based representation of environment

ttcCost_

adore::fun::SPRTTCNominal adore::apps::TrajectoryPlannerALC::ttcCost_

private

collision detection based ttc computation

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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/trajectory_planner_alc.h