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

#include <occupancycylinderprediction.h>

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Public Member Functions

void setTMaxUTC (double value)
 
void setLatPrecision (double value)
 
void setLatError (double value)
 
void setLonError (double value)
 
void setVMax (double value)
 
void setAMax (double value)
 
void setAMin (double value)
 
void setTimeHeadway (double value)
 
void setTimeLeeway (double value)
 
void setWidthUB (double value)
 
void setWidthLB (double value)
 
 OCStraightLinePrediction ()
 
virtual bool predict (const traffic::Participant &p, OccupancyCylinderPredictionSet &set) const override
 

Private Attributes

double t_max_utc_
 
double lat_precision_
 
double lat_error_
 
double lon_error_
 
double v_max_
 
double a_max_
 
double a_min_
 
double time_headway_
 
double time_leeway_
 
double width_ub_
 
double width_lb_
 

Detailed Description

A simple straight line prediction with given heading and speed. max_time, lat-Precision, lat-error, lon-error, top-speed, maximum acceleration and minimum acceleration can be provided to parametrize prediciton.

Constructor & Destructor Documentation

◆ OCStraightLinePrediction()

adore::env::OCStraightLinePrediction::OCStraightLinePrediction ( )
inline

Member Function Documentation

◆ predict()

virtual bool adore::env::OCStraightLinePrediction::predict ( const traffic::Participant p,
OccupancyCylinderPredictionSet set 
) const
inlineoverridevirtual

formulate one or more predictions for Participant p as an OccupancyCylinderTree (a set of cylinders in xyz and t)

Parameters
pthe participant state information
setthe resulting occupancy prediction is placed in set
Returns
true if prediction is successful

Implements adore::env::OCPredictionStrategy< traffic::Participant >.

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◆ setAMax()

void adore::env::OCStraightLinePrediction::setAMax ( double  value)
inline
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◆ setAMin()

void adore::env::OCStraightLinePrediction::setAMin ( double  value)
inline
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◆ setLatError()

void adore::env::OCStraightLinePrediction::setLatError ( double  value)
inline
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◆ setLatPrecision()

void adore::env::OCStraightLinePrediction::setLatPrecision ( double  value)
inline
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◆ setLonError()

void adore::env::OCStraightLinePrediction::setLonError ( double  value)
inline
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◆ setTimeHeadway()

void adore::env::OCStraightLinePrediction::setTimeHeadway ( double  value)
inline
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◆ setTimeLeeway()

void adore::env::OCStraightLinePrediction::setTimeLeeway ( double  value)
inline
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◆ setTMaxUTC()

void adore::env::OCStraightLinePrediction::setTMaxUTC ( double  value)
inline
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◆ setVMax()

void adore::env::OCStraightLinePrediction::setVMax ( double  value)
inline
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◆ setWidthLB()

void adore::env::OCStraightLinePrediction::setWidthLB ( double  value)
inline
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◆ setWidthUB()

void adore::env::OCStraightLinePrediction::setWidthUB ( double  value)
inline
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Member Data Documentation

◆ a_max_

double adore::env::OCStraightLinePrediction::a_max_
private

maximum acceleration. set a_max_=a_min_ to get no divergence.

◆ a_min_

double adore::env::OCStraightLinePrediction::a_min_
private

minimum acceleration. set a_max_=a_min_ to get no divergence.

◆ lat_error_

double adore::env::OCStraightLinePrediction::lat_error_
private

◆ lat_precision_

double adore::env::OCStraightLinePrediction::lat_precision_
private

maximum lateral overapproximation of the vehicle body

◆ lon_error_

double adore::env::OCStraightLinePrediction::lon_error_
private

initial (and constant) (measurement) error to the side of the vehicle

◆ t_max_utc_

double adore::env::OCStraightLinePrediction::t_max_utc_
private

time at which the prediction ends. (prediciton starts at time stamp of object.)

◆ time_headway_

double adore::env::OCStraightLinePrediction::time_headway_
private

arriving earlier than expected

◆ time_leeway_

double adore::env::OCStraightLinePrediction::time_leeway_
private

leaving later than expected

◆ v_max_

double adore::env::OCStraightLinePrediction::v_max_
private

initial (measurement) error in movement direction of the vehicle maximum speed up until which participant could accelerate. only relevant, if a_max>0

◆ width_lb_

double adore::env::OCStraightLinePrediction::width_lb_
private

lower bound on prediction width

◆ width_ub_

double adore::env::OCStraightLinePrediction::width_ub_
private

upper bound on prediction width


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