LaneFollowingview provides traffic related information for the current lane. More...

#include <lanefollowingview.h>

Inheritance diagram for adore::env::BorderBased::LaneFollowingView:

Collaboration diagram for adore::env::BorderBased::LaneFollowingView:

Public Types
typedef LaneFollowingGeometry< 20, 200 >	TLaneFollowingGeometry

Public Member Functions
	LaneFollowingView (adore::params::AFactory paramsfactory, LocalRoadMap localRoadMap, adore::env::traffic::TrafficMap *trafficMap)
	Construct a new LaneFollowingView object. More...

	LaneFollowingView (LocalRoadMap localRoadMap, adore::env::traffic::TrafficMap trafficMap)

std::unordered_multimap< view::ConflictZone , std::vector< Border > > *	getConflictSetPlotData ()

void	update ()
	update the LaneFollowingView More...

LocalRoadMap *	getLocalRoadMap ()

void	getBordersToPrint (std::vector< Border * > &result, std::vector< int > &ids)

TLaneFollowingGeometry *	getGeometry ()

virtual bool	isValid () const override

virtual double	getSMax () const override

virtual double	getSMin () const override

virtual double	getProgressOfWidthOpen () const override

virtual double	getProgressOfWidthClosed () const override

virtual const adore::view::TrafficQueue &	getOnLaneTraffic () const override

virtual const adore::view::ConflictSet &	getConflictSet () const override

virtual double	getSpeedLimit (double s) override

virtual double	getLeftIndicatorHint (double s) override

virtual double	getRightIndicatorHint (double s) override

virtual bool	hasSpeedRecommendation (double s) const override

virtual double	getSpeedRecommendation (double s) const override

virtual double	getNavigationCost (double s) override

virtual void	boundNavigationCost (double s0, double s1, double &cmin, double &cmax) override

virtual double	getHeading (double s) override

virtual double	getCurvature (double s, int derivative) override

virtual double	getOffsetOfLeftBorder (double s) override

virtual double	getOffsetOfRightBorder (double s) override

virtual void	toRelativeCoordinates (double xe, double ye, double &s, double &n) override

virtual void	toEucledianCoordinates (double s, double n, double &xe, double &ye, double &ze) override

std::vector< Coordinate > *	getCornerPoints ()

std::vector< BorderOverlapSet > *	getOverlapSet ()

std::vector< Border * > *	get_right_borders_of_conf_lanes ()

Public Member Functions inherited from adore::view::ALane
bool	inSRange (double s) const

Private Attributes
LocalRoadMap *	lrm_

TLaneFollowingGeometry	lfg_

adore::params::APLaneFollowingView *	apLFV_

adore::env::traffic::EgoLaneTraffic	elt_

adore::env::BorderBased::ConflictSet	cs_

Detailed Description

LaneFollowingview provides traffic related information for the current lane.

Member Typedef Documentation

◆ TLaneFollowingGeometry

typedef LaneFollowingGeometry<20, 200> adore::env::BorderBased::LaneFollowingView::TLaneFollowingGeometry

Constructor & Destructor Documentation

◆ LaneFollowingView() [1/2]

adore::env::BorderBased::LaneFollowingView::LaneFollowingView	(	adore::params::AFactory *	paramsfactory,
		LocalRoadMap *	localRoadMap,
		adore::env::traffic::TrafficMap *	trafficMap
	)

inline

Construct a new LaneFollowingView object.

Parameters

paramsfactory	parameter factory
localRoadMap	local road map
trafficMap	traffic map

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◆ LaneFollowingView() [2/2]

adore::env::BorderBased::LaneFollowingView::LaneFollowingView	(	LocalRoadMap *	localRoadMap,
		adore::env::traffic::TrafficMap *	trafficMap
	)

inline

Member Function Documentation

◆ boundNavigationCost()

virtual void adore::env::BorderBased::LaneFollowingView::boundNavigationCost	(	double	s0,
		double	s1,
		double &	cmin,
		double &	cmax
	)

inlineoverridevirtual

boundNavigationCost - return bounds for navigation-cost on a distance s interval along the lane

Parameters

cmin	the minimum cost on the interval is returned
cmax	the maximum cost on the interval is returned

Implements adore::view::ALane.

◆ get_right_borders_of_conf_lanes()

std::vector<Border *>* adore::env::BorderBased::LaneFollowingView::get_right_borders_of_conf_lanes ( )

inline

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◆ getBordersToPrint()

void adore::env::BorderBased::LaneFollowingView::getBordersToPrint	(	std::vector< Border * > &	result,
		std::vector< int > &	ids
	)

inline

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◆ getConflictSet()

virtual const adore::view::ConflictSet& adore::env::BorderBased::LaneFollowingView::getConflictSet ( ) const

inlineoverridevirtual

getConflictSet - return set of conflict zones, ordered by occurance along lane

Implements adore::view::ALane.

◆ getConflictSetPlotData()

std::unordered_multimap<view::ConflictZone*, std::vector<Border*> >* adore::env::BorderBased::LaneFollowingView::getConflictSetPlotData ( )

inline

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◆ getCornerPoints()

std::vector<Coordinate>* adore::env::BorderBased::LaneFollowingView::getCornerPoints ( )

inline

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◆ getCurvature()

virtual double adore::env::BorderBased::LaneFollowingView::getCurvature	(	double	s,
		int	derivative
	)

inlineoverridevirtual

getCurvature - return the lane coordinate system's curvature kappa=1/R and its derivatives 1,2,... at a progress s the derivative is given as 1: d kappa / ds, 2: d^2 kappa / ds^2, ... if a derivative is unavailable, 0 will be returned

Implements adore::view::ALane.

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◆ getGeometry()

TLaneFollowingGeometry* adore::env::BorderBased::LaneFollowingView::getGeometry ( )

inline

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◆ getHeading()

virtual double adore::env::BorderBased::LaneFollowingView::getHeading ( double s )

inlineoverridevirtual

getHeading - return the heading of the lane at a distance s along the lane

Implements adore::view::ALane.

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◆ getLeftIndicatorHint()

virtual double adore::env::BorderBased::LaneFollowingView::getLeftIndicatorHint ( double s )

inlineoverridevirtual

getLeftIndicatorHint - return left indicator light hint at s along the lane

Implements adore::view::ALane.

◆ getLocalRoadMap()

LocalRoadMap* adore::env::BorderBased::LaneFollowingView::getLocalRoadMap ( )

inline

◆ getNavigationCost()

virtual double adore::env::BorderBased::LaneFollowingView::getNavigationCost ( double s )

inlineoverridevirtual

getNavigationCost - return remaining navigation cost at a certain distance s along the lane

Implements adore::view::ALane.

◆ getOffsetOfLeftBorder()

virtual double adore::env::BorderBased::LaneFollowingView::getOffsetOfLeftBorder ( double s )

inlineoverridevirtual

getOffsetOfLeftBorder - return the lateral offset of the left border at a progress s

Implements adore::view::ALane.

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◆ getOffsetOfRightBorder()

virtual double adore::env::BorderBased::LaneFollowingView::getOffsetOfRightBorder ( double s )

inlineoverridevirtual

getOffsetOfRightBorder - return the lateral offset of the right border at a progress s

Implements adore::view::ALane.

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◆ getOnLaneTraffic()

virtual const adore::view::TrafficQueue& adore::env::BorderBased::LaneFollowingView::getOnLaneTraffic ( ) const

inlineoverridevirtual

getOnLaneTraffic - return queue of traffic objects moving on lane, ordered by progress of objects on lane

Implements adore::view::ALane.

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◆ getOverlapSet()

std::vector<BorderOverlapSet>* adore::env::BorderBased::LaneFollowingView::getOverlapSet ( )

inline

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◆ getProgressOfWidthClosed()

virtual double adore::env::BorderBased::LaneFollowingView::getProgressOfWidthClosed ( ) const

inlineoverridevirtual

getProgressOfWidthClosed - returns the s-coordinate of the position where the lane ends to have at least the required width

Implements adore::view::ALane.

◆ getProgressOfWidthOpen()

virtual double adore::env::BorderBased::LaneFollowingView::getProgressOfWidthOpen ( ) const

inlineoverridevirtual

getProgressOfWidthOpen - returns the s-coordinate of the position where the lane starts to have at least the required width

Implements adore::view::ALane.

◆ getRightIndicatorHint()

virtual double adore::env::BorderBased::LaneFollowingView::getRightIndicatorHint ( double s )

inlineoverridevirtual

getRightIndicatorHint - return right indicator light hint at s along the lane

Implements adore::view::ALane.

◆ getSMax()

virtual double adore::env::BorderBased::LaneFollowingView::getSMax ( ) const

inlineoverridevirtual

Returns: the maximum s parameter of the relative coordinate system

Implements adore::view::ALane.

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◆ getSMin()

virtual double adore::env::BorderBased::LaneFollowingView::getSMin ( ) const

inlineoverridevirtual

Returns: the minimum s parameter of the relative coordinate system

Implements adore::view::ALane.

◆ getSpeedLimit()

virtual double adore::env::BorderBased::LaneFollowingView::getSpeedLimit ( double s )

inlineoverridevirtual

getSpeedLimit - return the speed limit at a certain distance s along the lane

Implements adore::view::ALane.

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◆ getSpeedRecommendation()

virtual double adore::env::BorderBased::LaneFollowingView::getSpeedRecommendation ( double s ) const

inlineoverridevirtual

getSpeedRecommendation - return a speed recommendation at a certain distance s along the lane

Implements adore::view::ALane.

◆ hasSpeedRecommendation()

virtual bool adore::env::BorderBased::LaneFollowingView::hasSpeedRecommendation ( double s ) const

inlineoverridevirtual

hasSpeedRecommendation - return true, if a speed recommendation is available (GLOSA or other infrastructure advice) at a certain distance s along the lane

Implements adore::view::ALane.

◆ isValid()

virtual bool adore::env::BorderBased::LaneFollowingView::isValid ( ) const

inlineoverridevirtual

isValid - return true if representation of lane is valid

Implements adore::view::ALane.

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◆ toEucledianCoordinates()

virtual void adore::env::BorderBased::LaneFollowingView::toEucledianCoordinates	(	double	s,
		double	n,
		double &	xe,
		double &	ye,
		double &	ze
	)

inlineoverridevirtual

coordinate transformation from road relative coordinates (s,n) to euclidean (xe,ye,ze)

Implements adore::view::ALane.

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◆ toRelativeCoordinates()

virtual void adore::env::BorderBased::LaneFollowingView::toRelativeCoordinates	(	double	xe,
		double	ye,
		double &	s,
		double &	n
	)

inlineoverridevirtual

coordinate transformation from euclidean (xe,ye) to road relative coordinates (s,n)

Implements adore::view::ALane.

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◆ update()

void adore::env::BorderBased::LaneFollowingView::update ( )

inline

update the LaneFollowingView

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Member Data Documentation

◆ apLFV_

adore::params::APLaneFollowingView* adore::env::BorderBased::LaneFollowingView::apLFV_

private

parameters

◆ cs_

adore::env::BorderBased::ConflictSet adore::env::BorderBased::LaneFollowingView::cs_

private

conflict set

◆ elt_

adore::env::traffic::EgoLaneTraffic adore::env::BorderBased::LaneFollowingView::elt_

private

traffic on this lane

◆ lfg_

TLaneFollowingGeometry adore::env::BorderBased::LaneFollowingView::lfg_

private

LaneFollowingGeometry

◆ lrm_

LocalRoadMap* adore::env::BorderBased::LaneFollowingView::lrm_

private

local road map

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

/home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/borderbased/lanefollowingview.h

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ TLaneFollowingGeometry

Constructor & Destructor Documentation

◆ LaneFollowingView() [1/2]

◆ LaneFollowingView() [2/2]

Member Function Documentation

◆ boundNavigationCost()

◆ get_right_borders_of_conf_lanes()

◆ getBordersToPrint()

◆ getConflictSet()

◆ getConflictSetPlotData()

◆ getCornerPoints()

◆ getCurvature()

◆ getGeometry()

◆ getHeading()

◆ getLeftIndicatorHint()

◆ getLocalRoadMap()

◆ getNavigationCost()

◆ getOffsetOfLeftBorder()

◆ getOffsetOfRightBorder()

◆ getOnLaneTraffic()

◆ getOverlapSet()

◆ getProgressOfWidthClosed()

◆ getProgressOfWidthOpen()

◆ getRightIndicatorHint()

◆ getSMax()

◆ getSMin()

◆ getSpeedLimit()

◆ getSpeedRecommendation()

◆ hasSpeedRecommendation()

◆ isValid()

◆ toEucledianCoordinates()

◆ toRelativeCoordinates()

◆ update()

Member Data Documentation

◆ apLFV_

◆ cs_

◆ elt_

◆ lfg_

◆ lrm_