adore::fun::ANominalConstraint Class Reference

#include <anominalplanner.h>

Inheritance diagram for adore::fun::ANominalConstraint:

Collaboration diagram for adore::fun::ANominalConstraint:

Public Types
enum	ConstraintDirection { LB , UB }

Public Member Functions
virtual double	getValue (double t, double s, double ds) const =0
virtual void	update (double t0, double s0, double ds0)=0
virtual ConstraintDirection	getDirection ()=0
virtual int	getDimension ()=0
virtual int	getDerivative ()=0

Detailed Description

Interface for constriants specified in road-relative coordinates.

Member Enumeration Documentation

ConstraintDirection

enum adore::fun::ANominalConstraint::ConstraintDirection

Enumerator
LB
UB

Member Function Documentation

getDerivative()

virtual int adore::fun::ANominalConstraint::getDerivative ( )

pure virtual

Determine for which derivative of given dimension this constraint is responsible.

Returns

applicable to which state derivative

Implemented in adore::fun::LateralOffsetConstraintLM, adore::fun::FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve, adore::fun::AdvancedLateralOffsetConstraintLC, adore::fun::LateralOffsetConstraintLC, adore::fun::StopAtNextConflictPoint, adore::fun::StopAtNextGoalPoint, adore::fun::AdhereToNextLimitLine, adore::fun::LowerBoundSGapToPrecedingVehicle, adore::fun::FollowPrecedingVehicle_BreakingCurve, adore::fun::FollowPrecedingVehicle, adore::fun::LongitudinalAccelerationConstraint, adore::fun::LateralOffsetConstraintLF, adore::fun::DistanceToLaneEndConstraint, adore::fun::LFVSpeedLimit, adore::fun::HeadingConstraint, adore::fun::LateralAccelerationConstraint, adore::fun::BreakAtHorizon, adore::fun::StopAtBottleneckLFV, adore::fun::LaneWidthSpeedLimitLFV, adore::fun::DontDriveBackwards, adore::fun::CurvatureSpeedLimitPredict, adore::fun::CurvatureSpeedLimitSmooth, and adore::fun::CurvatureSpeedLimit.

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getDimension()

virtual int adore::fun::ANominalConstraint::getDimension ( )

pure virtual

Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)

Returns

applicable to which dimension, depends on setup of planner

Implemented in adore::fun::LateralOffsetConstraintLM, adore::fun::FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve, adore::fun::AdvancedLateralOffsetConstraintLC, adore::fun::LateralOffsetConstraintLC, adore::fun::StopAtNextConflictPoint, adore::fun::StopAtNextGoalPoint, adore::fun::AdhereToNextLimitLine, adore::fun::LowerBoundSGapToPrecedingVehicle, adore::fun::FollowPrecedingVehicle_BreakingCurve, adore::fun::FollowPrecedingVehicle, adore::fun::LongitudinalAccelerationConstraint, adore::fun::LateralOffsetConstraintLF, adore::fun::DistanceToLaneEndConstraint, adore::fun::LFVSpeedLimit, adore::fun::HeadingConstraint, adore::fun::LateralAccelerationConstraint, adore::fun::BreakAtHorizon, adore::fun::StopAtBottleneckLFV, adore::fun::LaneWidthSpeedLimitLFV, adore::fun::DontDriveBackwards, adore::fun::CurvatureSpeedLimitPredict, adore::fun::CurvatureSpeedLimitSmooth, and adore::fun::CurvatureSpeedLimit.

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getDirection()

virtual ConstraintDirection adore::fun::ANominalConstraint::getDirection ( )

pure virtual

Determine whether this constraint is an upper or lower bound.

Returns

lb or ub

Implemented in adore::fun::LateralOffsetConstraintLM, adore::fun::FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve, adore::fun::AdvancedLateralOffsetConstraintLC, adore::fun::LateralOffsetConstraintLC, adore::fun::StopAtNextConflictPoint, adore::fun::StopAtNextGoalPoint, adore::fun::AdhereToNextLimitLine, adore::fun::LowerBoundSGapToPrecedingVehicle, adore::fun::FollowPrecedingVehicle_BreakingCurve, adore::fun::FollowPrecedingVehicle, adore::fun::LongitudinalAccelerationConstraint, adore::fun::LateralOffsetConstraintLF, adore::fun::DistanceToLaneEndConstraint, adore::fun::LFVSpeedLimit, adore::fun::HeadingConstraint, adore::fun::LateralAccelerationConstraint, adore::fun::BreakAtHorizon, adore::fun::StopAtBottleneckLFV, adore::fun::LaneWidthSpeedLimitLFV, adore::fun::DontDriveBackwards, adore::fun::CurvatureSpeedLimitPredict, adore::fun::CurvatureSpeedLimitSmooth, and adore::fun::CurvatureSpeedLimit.

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getValue()

virtual double adore::fun::ANominalConstraint::getValue ( double  t, double  s, double  ds  ) const

pure virtual

return the value of the constraint at a certain time and position

Parameters

t	the time
s	progress along the road-relative coordinate system
ds	derivative of s

Returns

value of the constraint (e.g. vmax for a speed limit)

Implemented in adore::fun::LateralOffsetConstraintLM, adore::fun::FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve, adore::fun::AdvancedLateralOffsetConstraintLC, adore::fun::LateralOffsetConstraintLC, adore::fun::StopAtNextConflictPoint, adore::fun::StopAtNextGoalPoint, adore::fun::AdhereToNextLimitLine, adore::fun::LowerBoundSGapToPrecedingVehicle, adore::fun::FollowPrecedingVehicle_BreakingCurve, adore::fun::FollowPrecedingVehicle, adore::fun::LongitudinalAccelerationConstraint, adore::fun::LateralOffsetConstraintLF, adore::fun::DistanceToLaneEndConstraint, adore::fun::LFVSpeedLimit, adore::fun::HeadingConstraint, adore::fun::LateralAccelerationConstraint, adore::fun::BreakAtHorizon, adore::fun::StopAtBottleneckLFV, adore::fun::LaneWidthSpeedLimitLFV, adore::fun::DontDriveBackwards, adore::fun::CurvatureSpeedLimitPredict, adore::fun::CurvatureSpeedLimitSmooth, and adore::fun::CurvatureSpeedLimit.

update()

virtual void adore::fun::ANominalConstraint::update ( double  t0, double  s0, double  ds0  )

pure virtual

Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.

Parameters

t0	start time for planning
s0	start progress in road-relative coordinate system
ds0	derivative of s at t0

Implemented in adore::fun::LateralOffsetConstraintLM, adore::fun::FollowPrecedingVehicleOnLaneToBeLeft_BrakingCurve, adore::fun::AdvancedLateralOffsetConstraintLC, adore::fun::LateralOffsetConstraintLC, adore::fun::StopAtNextConflictPoint, adore::fun::StopAtNextGoalPoint, adore::fun::AdhereToNextLimitLine, adore::fun::LowerBoundSGapToPrecedingVehicle, adore::fun::FollowPrecedingVehicle_BreakingCurve, adore::fun::FollowPrecedingVehicle, adore::fun::LongitudinalAccelerationConstraint, adore::fun::LateralOffsetConstraintLF, adore::fun::DistanceToLaneEndConstraint, adore::fun::LFVSpeedLimit, adore::fun::HeadingConstraint, adore::fun::LateralAccelerationConstraint, adore::fun::BreakAtHorizon, adore::fun::StopAtBottleneckLFV, adore::fun::LaneWidthSpeedLimitLFV, adore::fun::DontDriveBackwards, adore::fun::CurvatureSpeedLimitPredict, adore::fun::CurvatureSpeedLimitSmooth, and adore::fun::CurvatureSpeedLimit.

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/anominalplanner.h