adore::fun::ANominalReference Class Reference

#include <anominalplanner.h>

Inheritance diagram for adore::fun::ANominalReference:

Collaboration diagram for adore::fun::ANominalReference:

Public Member Functions
virtual bool	getValueIfAvailable (double t, double s, double ds, double &ref) const =0
virtual void	update (double t0, double s0, double ds0)=0
virtual int	getDimension ()=0
virtual int	getDerivative ()=0

Detailed Description

Interface for reference values specified in road-relative coordinates. The term reference is here applied as in convex optimization, where the deviation from the reference is penalized.

Member Function Documentation

getDerivative()

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

pure virtual

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

Returns

applicable to which state derivative

Implemented in adore::fun::ContinueLCReference, adore::fun::CancelMergeReference, adore::fun::LaneChangeIntoGapReference, adore::fun::LaneChangePhaseEstimator, adore::fun::FollowCenterlineReference, adore::fun::NominalReferenceSpeed, adore::fun::LateralJerkReference, and adore::fun::LateralAccelerationReference.

getDimension()

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

pure virtual

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

Returns

applicable to which dimension, depends on setup of planner

Implemented in adore::fun::ContinueLCReference, adore::fun::CancelMergeReference, adore::fun::LaneChangeIntoGapReference, adore::fun::LaneChangePhaseEstimator, adore::fun::FollowCenterlineReference, adore::fun::NominalReferenceSpeed, adore::fun::LateralJerkReference, and adore::fun::LateralAccelerationReference.

getValueIfAvailable()

virtual bool adore::fun::ANominalReference::getValueIfAvailable ( double  t, double  s, double  ds, double &  ref  ) const

pure virtual

Determine whether a reference is available and retrieve its value.

Parameters

t	time
s	progress along coordinate system

Returns

true, if a reference is available

Implemented in adore::fun::ContinueLCReference, adore::fun::CancelMergeReference, adore::fun::LaneChangeIntoGapReference, adore::fun::LaneChangePhaseEstimator, adore::fun::FollowCenterlineReference, adore::fun::NominalReferenceSpeed, adore::fun::LateralJerkReference, and adore::fun::LateralAccelerationReference.

update()

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

pure virtual

Refresh values of the reference 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::ContinueLCReference, adore::fun::CancelMergeReference, adore::fun::LaneChangeIntoGapReference, adore::fun::LaneChangePhaseEstimator, adore::fun::FollowCenterlineReference, adore::fun::NominalReferenceSpeed, adore::fun::LateralJerkReference, and adore::fun::LateralAccelerationReference.

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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