ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints > Class Template Reference

A class with a geometry description of the current lane. More...

#include <lanefollowinggeometry.h>

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Public Types

using function_type_xyz = adore::mad::function_type_xyz
 
using function_type2d = adore::mad::function_type2d
 
using function_type_scalar = adore::mad::function_type_scalar
 
using velocity_profile = function_type_scalar
 

Public Member Functions

 LaneFollowingGeometry ()
 Construct a new LaneFollowingGeometry object. More...
 
void update (BorderSet *borderSet, BorderTrace *borderTrace, BorderCostMap *borderCost, Border *start, adore::env::VehicleMotionState9d *ego, double lookahead_distance, double lookbehind_distance, double smoothness=0.05, bool activate_navigation=false)
 update the road geometry More...
 
bool computeNavigationCost (bool activate_navigation, BorderCostMap *borderCostMap)
 
void excludeObstaclePoint (double X, double Y, double s_min, double s_safety, double n_safety, double s_off=0.0)
 Modify a lane boundary to exclude a given point. More...
 
BorderAccumulatorgetRightBorders ()
 Get the right borders of the LaneFollowingGeometry. More...
 
BorderAccumulatorgetLeftBorders ()
 Get the left borders of the LaneFollowingGeometry. More...
 
BordergetBestMatchingBorder (double X, double Y, double max_deviation)
 Get the best matching border for a given ego position. More...
 
bool isValid () const
 Check whether the LaneFollowingGeometry is valid. More...
 
double getViewingDistance () const
 Get the viewing distance. More...
 
double getSMax () const
 
double getSMin () const
 
double getProgressOfWidthOpen () const
 Get the s-coordinate where the lane reaches the required width. More...
 
double getProgressOfWidthClosed () const
 Get the s-coordinate where the lane stops to have the required width. More...
 
function_type_xyzgetCenterline ()
 Get the centerline of the lane. More...
 
function_type2dgetCenterlineNormal ()
 Get the Centerline Normal object. More...
 
double getCurvature (double s, int derivative)
 Get the curvature of the lane at a certain position. More...
 
BAContainer::iterator begin ()
 Get the begin()-iterator of the BAContainer of the right borders. More...
 
BAContainer::iterator end ()
 Get the end()-iterator of the BAContainer of the right borders. More...
 
double getHeading (double s)
 Get the heading at a certain position. More...
 
double getOffsetOfLeftBorder (double s)
 Get the offset of the left border at a certain position. More...
 
function_type_scalargetOffsetOfLeftBorderFct ()
 Get the function that holds the offset of left borders. More...
 
double getOffsetOfRightBorder (double s)
 Get the offset of the right border at a certain position. More...
 
function_type_scalargetOffsetOfRightBorderFct ()
 Get the function that holds the offset of right borders. More...
 
function_type_xyzgetLeftBorderFct ()
 
function_type_xyzgetRightBorderFct ()
 
void toRelativeCoordinates (double Xg, double Yg, double &s, double &n)
 Transform from euclidian to relative coordinates. More...
 
void toEucledianCoordinates (double s, double n, double &Xg, double &Yg, double &Zg)
 Transform from relative to euclidian coordinates. More...
 

Public Attributes

velocity_profile m_velocity_fct
 
function_type_xyz m_leftBorder_fct
 
function_type_xyz m_rightBorder_fct
 
function_type_xyz m_centerRaw_fct
 
function_type_xyz m_centerSmoothed_fct
 
function_type_xyz m_centerSmoothedDerivative1_fct
 
function_type_xyz m_centerSmoothedDerivative2_fct
 
function_type2d m_centerNormal_fct
 
function_type_scalar m_centerHeading_fct
 
function_type_scalar m_centerSmoothedCurvature_fct
 
function_type_scalar m_centerSmoothedCurvatureDerivative_fct
 
function_type_scalar m_leftDistance_fct
 
function_type_scalar m_rightDistance_fct
 
function_type_scalar m_navigationCost_fct
 
double m_planning_time
 
double m_s_min
 
double m_s_max
 
bool m_view_valid
 
double m_min_view_distance
 
BorderAccumulator m_rightBorders
 
BorderAccumulator m_leftBorders
 
int m_startIndexInRightBorders
 
Borderm_start
 
int m_egoBorderIndex
 
double m_s_lane_width_open
 
double m_s_lane_width_closed
 
double m_vehicle_width
 
double Sbuf [PolyEvaluatePoints]
 
double Xbuf [PolyEvaluatePoints]
 
double Ybuf [PolyEvaluatePoints]
 
double nXbuf [PolyEvaluatePoints]
 
double nYbuf [PolyEvaluatePoints]
 
double dXbuf [PolyEvaluatePoints]
 
double dYbuf [PolyEvaluatePoints]
 
double ddXbuf [PolyEvaluatePoints]
 
double ddYbuf [PolyEvaluatePoints]
 
double dddXbuf [PolyEvaluatePoints]
 
double dddYbuf [PolyEvaluatePoints]
 

Detailed Description

template<int PolyFitPoints, int PolyEvaluatePoints>
class adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >

A class with a geometry description of the current lane.

Member Typedef Documentation

◆ function_type2d

template<int PolyFitPoints, int PolyEvaluatePoints>
using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type2d = adore::mad::function_type2d

◆ function_type_scalar

template<int PolyFitPoints, int PolyEvaluatePoints>
using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type_scalar = adore::mad::function_type_scalar

◆ function_type_xyz

template<int PolyFitPoints, int PolyEvaluatePoints>
using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type_xyz = adore::mad::function_type_xyz

◆ velocity_profile

template<int PolyFitPoints, int PolyEvaluatePoints>
using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::velocity_profile = function_type_scalar

Constructor & Destructor Documentation

◆ LaneFollowingGeometry()

template<int PolyFitPoints, int PolyEvaluatePoints>
adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::LaneFollowingGeometry ( )
inline

Construct a new LaneFollowingGeometry object.

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Member Function Documentation

◆ begin()

template<int PolyFitPoints, int PolyEvaluatePoints>
BAContainer::iterator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::begin ( )
inline

Get the begin()-iterator of the BAContainer of the right borders.

Returns
BAContainer::iterator begin()-iterator
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◆ computeNavigationCost()

template<int PolyFitPoints, int PolyEvaluatePoints>
bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::computeNavigationCost ( bool  activate_navigation,
BorderCostMap borderCostMap 
)
inline
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◆ end()

template<int PolyFitPoints, int PolyEvaluatePoints>
BAContainer::iterator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::end ( )
inline

Get the end()-iterator of the BAContainer of the right borders.

Returns
BAContainer::iterator end()-iterator
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◆ excludeObstaclePoint()

template<int PolyFitPoints, int PolyEvaluatePoints>
void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::excludeObstaclePoint ( double  X,
double  Y,
double  s_min,
double  s_safety,
double  n_safety,
double  s_off = 0.0 
)
inline

Modify a lane boundary to exclude a given point.

Modifies left or right lane boundary in such a way that the specified point no longer resides inside the lane after the operation. The lane boundary with minimum distance to the point is chosen for modification.

Parameters
Xx-coordinate of the point to exclude
Yy-coordinate of the point to exclude
s_min
s_safety
n_safety
s_off
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◆ getBestMatchingBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>
Border* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getBestMatchingBorder ( double  X,
double  Y,
double  max_deviation 
)
inline

Get the best matching border for a given ego position.

Parameters
max_deviationif a point located max_deviation from X,Y is inside lfg, a match can be found
Returns
nullptr if no match can be found, otherwise border pointer
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◆ getCenterline()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCenterline ( )
inline

Get the centerline of the lane.

Returns
function_type_xyz* centerline of the lane
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◆ getCenterlineNormal()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type2d* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCenterlineNormal ( )
inline

Get the Centerline Normal object.

Returns
function_type2d*
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◆ getCurvature()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCurvature ( double  s,
int  derivative 
)
inline

Get the curvature of the lane at a certain position.

Parameters
ss-coordinate of the position
derivativewhich derivative of the curvature should be evaluated
Returns
double resulting curvature at the evaluated position
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◆ getHeading()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getHeading ( double  s)
inline

Get the heading at a certain position.

Parameters
ss-coordinate of the position
Returns
double heading at the position given position
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◆ getLeftBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getLeftBorderFct ( )
inline

◆ getLeftBorders()

template<int PolyFitPoints, int PolyEvaluatePoints>
BorderAccumulator* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getLeftBorders ( )
inline

Get the left borders of the LaneFollowingGeometry.

Returns
BorderAccumulator* BorderAccumulator that holds the left borders
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◆ getOffsetOfLeftBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfLeftBorder ( double  s)
inline

Get the offset of the left border at a certain position.

Parameters
ss-coordinate of the position
Returns
double offset of the left border at the given position
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◆ getOffsetOfLeftBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfLeftBorderFct ( )
inline

Get the function that holds the offset of left borders.

Returns
function_type_scalar* function that holds the offset of left borders
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◆ getOffsetOfRightBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfRightBorder ( double  s)
inline

Get the offset of the right border at a certain position.

Parameters
ss-coordinate of the position
Returns
double offset of the right border at the given position
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◆ getOffsetOfRightBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfRightBorderFct ( )
inline

Get the function that holds the offset of right borders.

Returns
function_type_scalar* function that holds the offset of right borders
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◆ getProgressOfWidthClosed()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getProgressOfWidthClosed ( ) const
inline

Get the s-coordinate where the lane stops to have the required width.

Returns
double s-coordinate of the position where the lane ends to have at least the required width

◆ getProgressOfWidthOpen()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getProgressOfWidthOpen ( ) const
inline

Get the s-coordinate where the lane reaches the required width.

Returns
double s-coordinate of the position where the lane starts to have at least the required width

◆ getRightBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getRightBorderFct ( )
inline

◆ getRightBorders()

template<int PolyFitPoints, int PolyEvaluatePoints>
BorderAccumulator* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getRightBorders ( )
inline

Get the right borders of the LaneFollowingGeometry.

Returns
BorderAccumulator* BorderAccumulator that holds the right borders
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◆ getSMax()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getSMax ( ) const
inline

◆ getSMin()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getSMin ( ) const
inline

◆ getViewingDistance()

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getViewingDistance ( ) const
inline

Get the viewing distance.

Returns
double viewing distance
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◆ isValid()

template<int PolyFitPoints, int PolyEvaluatePoints>
bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::isValid ( ) const
inline

Check whether the LaneFollowingGeometry is valid.

Returns
true if the LaneFollowingGeometry is valid
false if the LaneFollowingGeometry is invalid
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◆ toEucledianCoordinates()

template<int PolyFitPoints, int PolyEvaluatePoints>
void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::toEucledianCoordinates ( double  s,
double  n,
double &  Xg,
double &  Yg,
double &  Zg 
)
inline

Transform from relative to euclidian coordinates.

Parameters
srelative s-coordinate
nrelative n-coordinate
Xgeuclidian x-coordinate
Ygeuclidian y-coordinate
Zgeuclidian z-coordinate
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◆ toRelativeCoordinates()

template<int PolyFitPoints, int PolyEvaluatePoints>
void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::toRelativeCoordinates ( double  Xg,
double  Yg,
double &  s,
double &  n 
)
inline

Transform from euclidian to relative coordinates.

Parameters
Xgeuclidian x-coordinate
Ygeuclidian y-coordinate
srelative s-coordinate
nrelative n-coordinate
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◆ update()

template<int PolyFitPoints, int PolyEvaluatePoints>
void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::update ( BorderSet borderSet,
BorderTrace borderTrace,
BorderCostMap borderCost,
Border start,
adore::env::VehicleMotionState9d ego,
double  lookahead_distance,
double  lookbehind_distance,
double  smoothness = 0.05,
bool  activate_navigation = false 
)
inline

update the road geometry

The chosen BorderAccumulationStrategy is BASFollowStraight by default

Parameters
borderSetset of all borders
borderTraceset of historical borders
borderCostnavigation cost
startstart/matched border
egoego state
lookahead_distancehow far to look in driving direction
lookbehind_distancehow far to look behind. Note: this parameter requires a borderTrace length of at least equal value
smoothnesssmoothing value for polynom fit
activate_navigationflag whether navigation is activated (default: false)
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Member Data Documentation

◆ dddXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dddXbuf[PolyEvaluatePoints]

◆ dddYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dddYbuf[PolyEvaluatePoints]

◆ ddXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::ddXbuf[PolyEvaluatePoints]

◆ ddYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::ddYbuf[PolyEvaluatePoints]

◆ dXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dXbuf[PolyEvaluatePoints]

◆ dYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dYbuf[PolyEvaluatePoints]

◆ m_centerHeading_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerHeading_fct

◆ m_centerNormal_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type2d adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerNormal_fct

◆ m_centerRaw_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerRaw_fct

function: s-coordinate -> euclidian coordinates for raw centerline

◆ m_centerSmoothed_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothed_fct

function: s-coordinate -> euclidian coordinates for smoothed centerline

◆ m_centerSmoothedCurvature_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedCurvature_fct

◆ m_centerSmoothedCurvatureDerivative_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedCurvatureDerivative_fct

◆ m_centerSmoothedDerivative1_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedDerivative1_fct

◆ m_centerSmoothedDerivative2_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedDerivative2_fct

◆ m_egoBorderIndex

template<int PolyFitPoints, int PolyEvaluatePoints>
int adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_egoBorderIndex

◆ m_leftBorder_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftBorder_fct

function: s-coordinate -> euclidian coordinates for left borders

◆ m_leftBorders

template<int PolyFitPoints, int PolyEvaluatePoints>
BorderAccumulator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftBorders

◆ m_leftDistance_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftDistance_fct

function: s-coordinate -> distance to left border

◆ m_min_view_distance

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_min_view_distance

◆ m_navigationCost_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_navigationCost_fct

function: s-coordinate -> distance to goal

◆ m_planning_time

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_planning_time

◆ m_rightBorder_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightBorder_fct

function: s-coordinate -> euclidian coordinates for right borders

◆ m_rightBorders

template<int PolyFitPoints, int PolyEvaluatePoints>
BorderAccumulator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightBorders

◆ m_rightDistance_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightDistance_fct

function: s-coordinate -> distance to right border

◆ m_s_lane_width_closed

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_lane_width_closed

◆ m_s_lane_width_open

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_lane_width_open

◆ m_s_max

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_max

s-coordinate of viewing horizon end

◆ m_s_min

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_min

s-coordinate of viewing horizon start

◆ m_start

template<int PolyFitPoints, int PolyEvaluatePoints>
Border* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_start

◆ m_startIndexInRightBorders

template<int PolyFitPoints, int PolyEvaluatePoints>
int adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_startIndexInRightBorders

◆ m_vehicle_width

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_vehicle_width

ego vehicle width

◆ m_velocity_fct

template<int PolyFitPoints, int PolyEvaluatePoints>
velocity_profile adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_velocity_fct

◆ m_view_valid

template<int PolyFitPoints, int PolyEvaluatePoints>
bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_view_valid

indicate whether view is valid

◆ nXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::nXbuf[PolyEvaluatePoints]

◆ nYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::nYbuf[PolyEvaluatePoints]

◆ Sbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Sbuf[PolyEvaluatePoints]

◆ Xbuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Xbuf[PolyEvaluatePoints]

◆ Ybuf

template<int PolyFitPoints, int PolyEvaluatePoints>
double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Ybuf[PolyEvaluatePoints]

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