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

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

#include <trajectory_planner_lf.h>

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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
 

Private Attributes

TNominalPlannernominal_planner_
 
TEmergencyPlanneremergency_planner_
 
adore::params::APVehiclepvehicle_
 
adore::params::APTacticalPlannerpTacticalPlanner_
 
adore::params::APTrajectoryGenerationpTrajectoryGeneration_
 
adore::params::APEmergencyOperationpEmergencyOperation_
 
adore::params::APPredictionppred_
 
adore::env::NavigationGoalObserver ngo_
 
adore::env::ControlledConnectionSet4Ego connectionSet_
 
adore::env::ControlledConnectionSet4Ego checkPointSet_
 
adore::env::ConnectionsOnLaneconnectionsOnLane_
 
adore::env::ConnectionsOnLanecheckPointsOnLane_
 
adore::env::DecoupledTrafficPredictionView prediction_
 
adore::fun::SPRTTCNominal ttcCost_
 
adore::fun::SPRNonCoercive coercion_detection_
 
adore::env::DecoupledConflictPointView conflicts_
 
adore::fun::SPRInvariantCollisionFreedom collision_detection_
 
int id_
 
std::string plannerName_
 
double lateral_i_grid_
 
double const_penalty_
 

Detailed Description

Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest.

Member Typedef Documentation

◆ TEmergencyPlanner

◆ TNominalPlanner

Constructor & Destructor Documentation

◆ ~TrajectoryPlannerLF()

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

penalty, which is always added to cost

◆ TrajectoryPlannerLF()

adore::apps::TrajectoryPlannerLF::TrajectoryPlannerLF ( int  id = 0,
std::string  plannerName = "lane-following",
double  lateral_i_grid = 0.0 
)
inline
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Member Function Documentation

◆ addConstraint()

void adore::apps::TrajectoryPlannerLF::addConstraint ( fun::ANominalConstraint constraint)
inline
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◆ computeTrajectory()

virtual void adore::apps::TrajectoryPlannerLF::computeTrajectory ( const adore::fun::PlanningRequest planning_request,
adore::fun::PlanningResult planning_result 
)
inlineoverridevirtual

update data, views and recompute maneuver

Implements adore::apps::TrajectoryPlannerBase.

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◆ setConstPenalty()

void adore::apps::TrajectoryPlannerLF::setConstPenalty ( double  value)
inline
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◆ setSpeedScale()

void adore::apps::TrajectoryPlannerLF::setSpeedScale ( double  value)
inline
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◆ setStopPoint()

void adore::apps::TrajectoryPlannerLF::setStopPoint ( int  value)
inline
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Member Data Documentation

◆ checkPointSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLF::checkPointSet_
private

state of checkPoints in area

◆ checkPointsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLF::checkPointsOnLane_
private

map controlled connections to lane

◆ coercion_detection_

adore::fun::SPRNonCoercive adore::apps::TrajectoryPlannerLF::coercion_detection_
private

collision detection vs expected behavior

◆ collision_detection_

adore::fun::SPRInvariantCollisionFreedom adore::apps::TrajectoryPlannerLF::collision_detection_
private

cross traffic conflicts combined maneuver post-processing constraints collision detection with traffic predictions

◆ conflicts_

adore::env::DecoupledConflictPointView adore::apps::TrajectoryPlannerLF::conflicts_
private

◆ connectionSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLF::connectionSet_
private

state of controlled connections in area

◆ connectionsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLF::connectionsOnLane_
private

◆ const_penalty_

double adore::apps::TrajectoryPlannerLF::const_penalty_
private

grid index

◆ emergency_planner_

TEmergencyPlanner* adore::apps::TrajectoryPlannerLF::emergency_planner_
private

◆ id_

int adore::apps::TrajectoryPlannerLF::id_
private

integral id to be written to PlanningResult

◆ lateral_i_grid_

double adore::apps::TrajectoryPlannerLF::lateral_i_grid_
private

human readable planner name written to PlanningResult

◆ ngo_

adore::env::NavigationGoalObserver adore::apps::TrajectoryPlannerLF::ngo_
private

◆ nominal_planner_

TNominalPlanner* adore::apps::TrajectoryPlannerLF::nominal_planner_
private

◆ pEmergencyOperation_

adore::params::APEmergencyOperation* adore::apps::TrajectoryPlannerLF::pEmergencyOperation_
private

◆ plannerName_

std::string adore::apps::TrajectoryPlannerLF::plannerName_
private

◆ ppred_

adore::params::APPrediction* adore::apps::TrajectoryPlannerLF::ppred_
private

◆ prediction_

adore::env::DecoupledTrafficPredictionView adore::apps::TrajectoryPlannerLF::prediction_
private

collision detection based representation of traffic

◆ pTacticalPlanner_

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

◆ pTrajectoryGeneration_

adore::params::APTrajectoryGeneration* adore::apps::TrajectoryPlannerLF::pTrajectoryGeneration_
private

◆ pvehicle_

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

◆ three_lanes_

adore::env::ThreeLaneViewDecoupled adore::apps::TrajectoryPlannerLF::three_lanes_
protected

map controlled connections to lane lane-based representation of environment

◆ ttcCost_

adore::fun::SPRTTCNominal adore::apps::TrajectoryPlannerLF::ttcCost_
private

collision detection based ttc computation


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