Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest. More...
#include <trajectory_planner_lf.h>
Public Member Functions | |
virtual | ~TrajectoryPlannerLF () |
TrajectoryPlannerLF (int id=0, std::string plannerName="lane-following", double lateral_i_grid=0.0) | |
void | setConstPenalty (double value) |
void | setSpeedScale (double value) |
void | addConstraint (fun::ANominalConstraint *constraint) |
void | setStopPoint (int 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 () |
Protected Attributes | |
adore::env::ThreeLaneViewDecoupled | three_lanes_ |
Private Types | |
typedef adore::fun::BasicLaneFollowingPlanner< 20, 5 > | TNominalPlanner |
typedef adore::fun::BasicMRMPlanner< 20, 5 > | TEmergencyPlanner |
Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest.
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penalty, which is always added to cost
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update data, views and recompute maneuver
Implements adore::apps::TrajectoryPlannerBase.
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state of checkPoints in area
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map controlled connections to lane
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collision detection vs expected behavior
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cross traffic conflicts combined maneuver post-processing constraints collision detection with traffic predictions
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state of controlled connections in area
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grid index
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integral id to be written to PlanningResult
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human readable planner name written to PlanningResult
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collision detection based representation of traffic
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map controlled connections to lane lane-based representation of environment
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collision detection based ttc computation