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

#include <navigationgoalobserver.h>

Inheritance diagram for adore::env::NavigationGoalObserver:
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Public Member Functions

 NavigationGoalObserver (AFactory *afactory, adore::view::ALane *lfv, adore::view::ALaneChangeView *lcl, adore::view::ALaneChangeView *lcr)
 
void update ()
 
virtual const bool isNextGoalPointFinal () const
 
virtual const bool isNextGoalPointInView () const
 
virtual const bool isNextGoalPointOnCurrentLane () const
 
virtual const bool isNextGoalPointOnLaneToTheLeft () const
 
virtual const bool isNextGoalPointOnLaneToTheRight () const
 
virtual const double getProgress () const
 

Private Attributes

AFactory::TNavigationGoalReadergoalReader_
 
adore::view::ALanelfv_
 
adore::view::ALaneChangeViewlcl_
 
adore::view::ALaneChangeViewlcr_
 
bool initialized_
 
adore::fun::NavigationGoal goal_
 
bool inview_
 
bool oncurrentlane_
 
bool onlaneleft_
 
bool onlaneright_
 
double s_
 
double n_
 
adore::params::APNavigationp_nav_
 

Detailed Description

NavigationGoalObserver compares the current navigation goal to the lane following and change views. When a navigation goal comes into view, the observer provides local information via NavigationGoalView.

Constructor & Destructor Documentation

◆ NavigationGoalObserver()

adore::env::NavigationGoalObserver::NavigationGoalObserver ( AFactory afactory,
adore::view::ALane lfv,
adore::view::ALaneChangeView lcl,
adore::view::ALaneChangeView lcr 
)
inline
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Member Function Documentation

◆ getProgress()

virtual const double adore::env::NavigationGoalObserver::getProgress ( ) const
inlinevirtual

returns the s-coordinate of the goal point in the current road coordinate system

Implements adore::view::ANavigationGoalView.

◆ isNextGoalPointFinal()

virtual const bool adore::env::NavigationGoalObserver::isNextGoalPointFinal ( ) const
inlinevirtual

isNextGoalPointFinal

  • true, if the vehicle has to stop
  • false, if the vehicle may continue driving in expectation of the next waypoint

Implements adore::view::ANavigationGoalView.

◆ isNextGoalPointInView()

virtual const bool adore::env::NavigationGoalObserver::isNextGoalPointInView ( ) const
inlinevirtual

isNextGoalPointInView determines whether the relation of goal-point to lane can be determined

Implements adore::view::ANavigationGoalView.

◆ isNextGoalPointOnCurrentLane()

virtual const bool adore::env::NavigationGoalObserver::isNextGoalPointOnCurrentLane ( ) const
inlinevirtual

is true, if the goal point is on the current lane

Implements adore::view::ANavigationGoalView.

◆ isNextGoalPointOnLaneToTheLeft()

virtual const bool adore::env::NavigationGoalObserver::isNextGoalPointOnLaneToTheLeft ( ) const
inlinevirtual

isNextGoalPointOnLaneToTheLeft returns true, if the goal point is on a neighboring lane to the left

Implements adore::view::ANavigationGoalView.

◆ isNextGoalPointOnLaneToTheRight()

virtual const bool adore::env::NavigationGoalObserver::isNextGoalPointOnLaneToTheRight ( ) const
inlinevirtual

isNextGoalPointOnLaneToTheRight returns true, if the goal point is on a neighboring lane to the right

Implements adore::view::ANavigationGoalView.

◆ update()

void adore::env::NavigationGoalObserver::update ( )
inline
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Member Data Documentation

◆ goal_

adore::fun::NavigationGoal adore::env::NavigationGoalObserver::goal_
private

◆ goalReader_

AFactory::TNavigationGoalReader* adore::env::NavigationGoalObserver::goalReader_
private

◆ initialized_

bool adore::env::NavigationGoalObserver::initialized_
private

◆ inview_

bool adore::env::NavigationGoalObserver::inview_
private

◆ lcl_

adore::view::ALaneChangeView* adore::env::NavigationGoalObserver::lcl_
private

◆ lcr_

adore::view::ALaneChangeView* adore::env::NavigationGoalObserver::lcr_
private

◆ lfv_

adore::view::ALane* adore::env::NavigationGoalObserver::lfv_
private

◆ n_

double adore::env::NavigationGoalObserver::n_
private

◆ oncurrentlane_

bool adore::env::NavigationGoalObserver::oncurrentlane_
private

◆ onlaneleft_

bool adore::env::NavigationGoalObserver::onlaneleft_
private

◆ onlaneright_

bool adore::env::NavigationGoalObserver::onlaneright_
private

◆ p_nav_

adore::params::APNavigation* adore::env::NavigationGoalObserver::p_nav_
private

◆ s_

double adore::env::NavigationGoalObserver::s_
private

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