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

Base class for different trajectory planners: Handles communication w/ decision making module. Reads PlanningRequest and writes PlanningResult. Actual trajectory planning has to occur by overriding virtual computeTrajectory method. More...

#include <trajectory_planner_base.h>

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Public Member Functions

virtual ~TrajectoryPlannerBase ()
 
 TrajectoryPlannerBase ()
 
void prime ()
 
void planning_request_handler ()
 
virtual void computeTrajectory (const adore::fun::PlanningRequest &request, adore::fun::PlanningResult &result)=0
 override computeTrajectory with actual planning method More...
 

Private Attributes

adore::mad::AWriter< adore::fun::PlanningResult > * result_writer_
 
adore::mad::AFeedWithCallback< adore::fun::PlanningRequest > * request_listener_
 

Detailed Description

Base class for different trajectory planners: Handles communication w/ decision making module. Reads PlanningRequest and writes PlanningResult. Actual trajectory planning has to occur by overriding virtual computeTrajectory method.

Constructor & Destructor Documentation

◆ ~TrajectoryPlannerBase()

virtual adore::apps::TrajectoryPlannerBase::~TrajectoryPlannerBase ( )
inlinevirtual

◆ TrajectoryPlannerBase()

adore::apps::TrajectoryPlannerBase::TrajectoryPlannerBase ( )
inline
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Member Function Documentation

◆ computeTrajectory()

virtual void adore::apps::TrajectoryPlannerBase::computeTrajectory ( const adore::fun::PlanningRequest request,
adore::fun::PlanningResult result 
)
pure virtual

override computeTrajectory with actual planning method

Implemented in adore::apps::TrajectoryPlannerLM, adore::apps::TrajectoryPlannerLF, adore::apps::TrajectoryPlannerLC, and adore::apps::TrajectoryPlannerALC.

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◆ planning_request_handler()

void adore::apps::TrajectoryPlannerBase::planning_request_handler ( )
inline
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◆ prime()

void adore::apps::TrajectoryPlannerBase::prime ( )
inline
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Member Data Documentation

◆ request_listener_

adore::mad::AFeedWithCallback<adore::fun::PlanningRequest>* adore::apps::TrajectoryPlannerBase::request_listener_
private

◆ result_writer_

adore::mad::AWriter<adore::fun::PlanningResult>* adore::apps::TrajectoryPlannerBase::result_writer_
private

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