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

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::AdhereToNextLimitLine:
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Public Member Functions

 AdhereToNextLimitLine (adore::view::ALimitLineEnRoute *nextLL)
 
virtual double getValue (double t, double s, double ds) const override
 
virtual void update (double t0, double s0, double ds0) override
 
virtual ConstraintDirection getDirection () override
 
virtual int getDimension () override
 
virtual int getDerivative () override
 

Private Attributes

adore::view::ALimitLineEnRoutenextLL_
 
const adore::params::APTacticalPlannerptac_
 
const adore::params::APVehiclepveh_
 
const adore::params::APTrajectoryGenerationpgen_
 
const adore::params::APLongitudinalPlannerplon_
 
double s_max_
 
std::set< adore::view::LimitLine::EStatedrivable_states_
 
std::set< adore::view::LimitLine::EStateclearance_states_
 

Additional Inherited Members

- Public Types inherited from adore::fun::ANominalConstraint
enum  ConstraintDirection { LB , UB }
 

Detailed Description

A constraint, which upper bounds the position of the ego vehicle according to the next limit line

Constructor & Destructor Documentation

◆ AdhereToNextLimitLine()

adore::fun::AdhereToNextLimitLine::AdhereToNextLimitLine ( adore::view::ALimitLineEnRoute nextLL)
inline
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Member Function Documentation

◆ getDerivative()

virtual int adore::fun::AdhereToNextLimitLine::getDerivative ( )
inlineoverridevirtual

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

Returns
applicable to which state derivative

Implements adore::fun::ANominalConstraint.

◆ getDimension()

virtual int adore::fun::AdhereToNextLimitLine::getDimension ( )
inlineoverridevirtual

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

Returns
applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalConstraint.

◆ getDirection()

virtual ConstraintDirection adore::fun::AdhereToNextLimitLine::getDirection ( )
inlineoverridevirtual

Determine whether this constraint is an upper or lower bound.

Returns
lb or ub

Implements adore::fun::ANominalConstraint.

◆ getValue()

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

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

Parameters
tthe time
sprogress along the road-relative coordinate system
dsderivative of s
Returns
value of the constraint (e.g. vmax for a speed limit)

Implements adore::fun::ANominalConstraint.

◆ update()

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

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

Parameters
t0start time for planning
s0start progress in road-relative coordinate system
ds0derivative of s at t0

Implements adore::fun::ANominalConstraint.

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Member Data Documentation

◆ clearance_states_

std::set<adore::view::LimitLine::EState> adore::fun::AdhereToNextLimitLine::clearance_states_
private

◆ drivable_states_

std::set<adore::view::LimitLine::EState> adore::fun::AdhereToNextLimitLine::drivable_states_
private

◆ nextLL_

adore::view::ALimitLineEnRoute* adore::fun::AdhereToNextLimitLine::nextLL_
private

◆ pgen_

const adore::params::APTrajectoryGeneration* adore::fun::AdhereToNextLimitLine::pgen_
private

◆ plon_

const adore::params::APLongitudinalPlanner* adore::fun::AdhereToNextLimitLine::plon_
private

◆ ptac_

const adore::params::APTacticalPlanner* adore::fun::AdhereToNextLimitLine::ptac_
private

◆ pveh_

const adore::params::APVehicle* adore::fun::AdhereToNextLimitLine::pveh_
private

◆ s_max_

double adore::fun::AdhereToNextLimitLine::s_max_
private

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