adore::env::BorderBased::LocalRoadMap Class Reference

#include <localroadmap.h>

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Public Member Functions
	LocalRoadMap (adore::env::AFactory *envfactory=adore::env::EnvFactoryInstance::get(), adore::params::AFactory *paramsfactory=adore::params::ParamsFactoryInstance::get())
	Construct a new LocalRoadMap object. More...
VehicleMotionState9d	getEgoState ()
BorderSet *	getBorderSet ()
	Get the BorderSet object. More...
PrecedenceSet *	getPrecedenceSet ()
	Get the PrecedenceSet object. More...
VehicleMotionState9d *	getVehicleState ()
	Get the VehicleState. More...
adore::params::APVehicle *	getVehicleParameters ()
BorderTrace *	getBorderTrace ()
	Get the BorderTrace. More...
Border *	getMatchedBorder ()
	Get the matched border. More...
BorderCostMap *	getBorderCostMap ()
	Get the BorderCostMap object. More...
bool	isNavigationActive ()
	transfers value of APLocalRoadMap->isNavigationActive is true More...
double	getNavigationCost (double x, double y, double z)
	Get the navigation cost for border on a certain point. More...
void	updateEgoState ()
	update only the ego state More...
void	update (bool matched_lane_proposal_valid=false, BorderID matched_lane_proposal_id=BorderID())
	update the local road map More...
adore::env::ControlledConnectionSet *	getControlledConnectionSet ()

Private Member Functions
void	updateData ()
	update the data of local road map More...
void	discard_radius_based (double radius)
	Remove Borders outside a certain area. More...

Private Attributes
BorderSet	borderSet_
adore::env::PrecedenceSet	precedenceSet_
adore::env::ControlledConnectionSet	connectionSet_
AFactory::TBorderFeed *	borderFeed_
AFactory::TNavigationDataFeed *	navigationDataFeed_
VehicleMotionState9d	egoState_
AFactory::TVehicleMotionStateReader *	vehicleReader_
BorderSubSet	lanesNearVehicle_
Border *	matchedLane_
BorderTrace	borderTrace_
BorderCostMap	borderCostMap_
BorderBased::LMSContinuation	lms_continuation_
BorderBased::LMSNavigation	lms_navigation_
adore::params::APLocalRoadMap *	apLocalRoadMap_
adore::params::APVehicle *	apVehicle_

Detailed Description

LocalRoadMap - provides a set of borders and associated navigation cost in the vehicle's vicinity, as well as the matched lane of the vehicle

Constructor & Destructor Documentation

LocalRoadMap()

adore::env::BorderBased::LocalRoadMap::LocalRoadMap ( adore::env::AFactory *  envfactory = adore::env::EnvFactoryInstance::get(), adore::params::AFactory *  paramsfactory = adore::params::ParamsFactoryInstance::get()  )

inline

Construct a new LocalRoadMap object.

Parameters

envfactory	environment factory
paramsfactory	parameter factory

Member Function Documentation

discard_radius_based()

void adore::env::BorderBased::LocalRoadMap::discard_radius_based ( double  radius )

inlineprivate

Remove Borders outside a certain area.

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getBorderCostMap()

BorderCostMap* adore::env::BorderBased::LocalRoadMap::getBorderCostMap ( )

inline

Get the BorderCostMap object.

Returns

BorderCostMap*

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getBorderSet()

BorderSet* adore::env::BorderBased::LocalRoadMap::getBorderSet ( )

inline

Get the BorderSet object.

Returns

BorderSet* set of all borders

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getBorderTrace()

BorderTrace* adore::env::BorderBased::LocalRoadMap::getBorderTrace ( )

inline

Get the BorderTrace.

Returns

BorderTrace*

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getControlledConnectionSet()

adore::env::ControlledConnectionSet* adore::env::BorderBased::LocalRoadMap::getControlledConnectionSet ( )

inline

getEgoState()

VehicleMotionState9d adore::env::BorderBased::LocalRoadMap::getEgoState ( )

inline

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getMatchedBorder()

Border* adore::env::BorderBased::LocalRoadMap::getMatchedBorder ( )

inline

Get the matched border.

Returns

Border* matched border

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getNavigationCost()

double adore::env::BorderBased::LocalRoadMap::getNavigationCost ( double  x, double  y, double  z  )

inline

Get the navigation cost for border on a certain point.

Parameters

x	x-coordinate of the point
y	y-coordinate of the point
z	z-coordinate of the point

Returns

double navigation cost

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getPrecedenceSet()

PrecedenceSet* adore::env::BorderBased::LocalRoadMap::getPrecedenceSet ( )

inline

Get the PrecedenceSet object.

Returns

PrecedenceSet* set of all PrecedenceRules

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getVehicleParameters()

adore::params::APVehicle* adore::env::BorderBased::LocalRoadMap::getVehicleParameters ( )

inline

getVehicleState()

VehicleMotionState9d* adore::env::BorderBased::LocalRoadMap::getVehicleState ( )

inline

Get the VehicleState.

Returns

VehicleMotionState9d* motion state of ego vehicle

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isNavigationActive()

bool adore::env::BorderBased::LocalRoadMap::isNavigationActive ( )

inline

transfers value of APLocalRoadMap->isNavigationActive is true

Returns

boolean value

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update()

void adore::env::BorderBased::LocalRoadMap::update ( bool  matched_lane_proposal_valid = false, BorderID  matched_lane_proposal_id = BorderID()  )

inline

update the local road map

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updateData()

void adore::env::BorderBased::LocalRoadMap::updateData ( )

inlineprivate

update the data of local road map

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updateEgoState()

void adore::env::BorderBased::LocalRoadMap::updateEgoState ( )

inline

update only the ego state

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Member Data Documentation

apLocalRoadMap_

adore::params::APLocalRoadMap* adore::env::BorderBased::LocalRoadMap::apLocalRoadMap_

private

Parameters for local road map

apVehicle_

adore::params::APVehicle* adore::env::BorderBased::LocalRoadMap::apVehicle_

private

Parameters for vehicle

borderCostMap_

BorderCostMap adore::env::BorderBased::LocalRoadMap::borderCostMap_

private

mapped cost

borderFeed_

AFactory::TBorderFeed* adore::env::BorderBased::LocalRoadMap::borderFeed_

private

border feed

borderSet_

BorderSet adore::env::BorderBased::LocalRoadMap::borderSet_

private

set of borders

borderTrace_

BorderTrace adore::env::BorderBased::LocalRoadMap::borderTrace_

private

history of matched borders

connectionSet_

adore::env::ControlledConnectionSet adore::env::BorderBased::LocalRoadMap::connectionSet_

private

current rule set for controlled connections

egoState_

VehicleMotionState9d adore::env::BorderBased::LocalRoadMap::egoState_

private

state of ego vehicle

lanesNearVehicle_

BorderSubSet adore::env::BorderBased::LocalRoadMap::lanesNearVehicle_

private

lms_continuation_

BorderBased::LMSContinuation adore::env::BorderBased::LocalRoadMap::lms_continuation_

private

lms_navigation_

BorderBased::LMSNavigation adore::env::BorderBased::LocalRoadMap::lms_navigation_

private

matchedLane_

Border* adore::env::BorderBased::LocalRoadMap::matchedLane_

private

matched border for ego vehicle's position

navigationDataFeed_

AFactory::TNavigationDataFeed* adore::env::BorderBased::LocalRoadMap::navigationDataFeed_

private

border cost feed

precedenceSet_

adore::env::PrecedenceSet adore::env::BorderBased::LocalRoadMap::precedenceSet_

private

rule set for un-controlled connections

vehicleReader_

AFactory::TVehicleMotionStateReader* adore::env::BorderBased::LocalRoadMap::vehicleReader_

private

reader of vehicle's motion state

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

• /home/fascar/temp/adore/libadore/libadore/adore/env/include/adore/env/borderbased/localroadmap.h