#include <occupancycylinderprediction.h>
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_ |
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.
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formulate one or more predictions for Participant p as an OccupancyCylinderTree (a set of cylinders in xyz and t)
p | the participant state information |
set | the resulting occupancy prediction is placed in set |
Implements adore::env::OCPredictionStrategy< traffic::Participant >.
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maximum acceleration. set a_max_=a_min_ to get no divergence.
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minimum acceleration. set a_max_=a_min_ to get no divergence.
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maximum lateral overapproximation of the vehicle body
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initial (and constant) (measurement) error to the side of the vehicle
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time at which the prediction ends. (prediciton starts at time stamp of object.)
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arriving earlier than expected
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leaving later than expected
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initial (measurement) error in movement direction of the vehicle maximum speed up until which participant could accelerate. only relevant, if a_max>0
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lower bound on prediction width
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upper bound on prediction width