ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::apps::TrajectoryPlannerLM 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. More...

#include <trajectory_planner_lm.h>

Inheritance diagram for adore::apps::TrajectoryPlannerLM:
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Public Member Functions

virtual ~TrajectoryPlannerLM ()
 
 TrajectoryPlannerLM (bool directionLeft, std::string name, int id)
 
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::BasicMergePlanner< 20, 5 > TNominalPlanner
 
typedef adore::fun::MergeMRMPlanner< 20, 5 > TEmergencyPlanner
 

Private Attributes

TNominalPlannernominal_planner_
 
TEmergencyPlanneremergency_planner_
 
adore::params::APVehiclepvehicle_
 
adore::params::APTacticalPlannerpTacticalPlanner_
 
adore::params::APTrajectoryGenerationpTrajectoryGeneration_
 
adore::env::NavigationGoalObserver ngo_
 
adore::env::ControlledConnectionSet4Ego connectionSet_
 
adore::env::ControlledConnectionSet4Ego checkPointSet_
 
adore::env::ConnectionsOnLaneconnectionsOnLane_
 
adore::env::ConnectionsOnLanecheckPointsOnLane_
 
adore::env::ThreeLaneViewDecoupled three_lanes_
 
adore::env::DecoupledTrafficPredictionView prediction_
 
adore::fun::SPRInvariantCollisionFreedom collision_detection_
 
int id_
 
std::string plannerName_
 
bool directionLeft_
 

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.

Member Typedef Documentation

◆ TEmergencyPlanner

◆ TNominalPlanner

Constructor & Destructor Documentation

◆ ~TrajectoryPlannerLM()

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

◆ TrajectoryPlannerLM()

adore::apps::TrajectoryPlannerLM::TrajectoryPlannerLM ( bool  directionLeft,
std::string  name,
int  id 
)
inline
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Member Function Documentation

◆ computeTrajectory()

virtual void adore::apps::TrajectoryPlannerLM::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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Member Data Documentation

◆ checkPointSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLM::checkPointSet_
private

state of checkPoints in area

◆ checkPointsOnLane_

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

map controlled connections to lane

◆ collision_detection_

adore::fun::SPRInvariantCollisionFreedom adore::apps::TrajectoryPlannerLM::collision_detection_
private

combined maneuver post-processing constraints collision detection with traffic predictions

◆ connectionSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLM::connectionSet_
private

state of controlled connections in area

◆ connectionsOnLane_

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

◆ directionLeft_

bool adore::apps::TrajectoryPlannerLM::directionLeft_
private

true if lane change to the left

◆ emergency_planner_

TEmergencyPlanner* adore::apps::TrajectoryPlannerLM::emergency_planner_
private

◆ id_

int adore::apps::TrajectoryPlannerLM::id_
private

integral id to be written to PlanningResult

◆ ngo_

adore::env::NavigationGoalObserver adore::apps::TrajectoryPlannerLM::ngo_
private

◆ nominal_planner_

TNominalPlanner* adore::apps::TrajectoryPlannerLM::nominal_planner_
private

◆ plannerName_

std::string adore::apps::TrajectoryPlannerLM::plannerName_
private

human readable planner name written to PlanningResult

◆ prediction_

adore::env::DecoupledTrafficPredictionView adore::apps::TrajectoryPlannerLM::prediction_
private

collision detection based representation of traffic

◆ pTacticalPlanner_

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

◆ pTrajectoryGeneration_

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

◆ pvehicle_

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

◆ three_lanes_

adore::env::ThreeLaneViewDecoupled adore::apps::TrajectoryPlannerLM::three_lanes_
private

map controlled connections to lane lane-based representation of environment


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