adore::fun::AdvancedLateralOffsetConstraintLC Class Reference

#include <lanechangeconstraintsandreferences.h>

Inheritance diagram for adore::fun::AdvancedLateralOffsetConstraintLC:

Collaboration diagram for adore::fun::AdvancedLateralOffsetConstraintLC:

Public Member Functions
	AdvancedLateralOffsetConstraintLC (adore::view::ALaneChangeView *lcv, LaneChangePhaseEstimator *phaseEstimator, adore::params::APVehicle *pv, adore::params::APLateralPlanner *plat, ConstraintDirection direction)
void	setGap (adore::view::AGap *gap)
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::ALaneChangeView *	lcv_
LaneChangePhaseEstimator *	phaseEstimator_
adore::params::APVehicle *	pv_
adore::params::APLateralPlanner *	plat_
double	width_
double	hard_safety_distance_
double	soft_safety_distance_
double	min_control_space_
ConstraintDirection	direction_
adore::view::AGap *	gap_

Additional Inherited Members
Public Types inherited from adore::fun::ANominalConstraint
enum	ConstraintDirection { LB , UB }

Detailed Description

AdvancedLateralOffsetConstraintLC - provides the left=UB or right=LB bound for lateral planning wrt the lane change view, depending on lane change phase.

Constructor & Destructor Documentation

AdvancedLateralOffsetConstraintLC()

adore::fun::AdvancedLateralOffsetConstraintLC::AdvancedLateralOffsetConstraintLC ( adore::view::ALaneChangeView *  lcv, LaneChangePhaseEstimator *  phaseEstimator, adore::params::APVehicle *  pv, adore::params::APLateralPlanner *  plat, ConstraintDirection  direction  )

inline

Member Function Documentation

getDerivative()

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

inlineoverridevirtual

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)

Implements adore::fun::ANominalConstraint.

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setGap()

void adore::fun::AdvancedLateralOffsetConstraintLC::setGap ( adore::view::AGap *  gap )

inline

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update()

virtual void adore::fun::AdvancedLateralOffsetConstraintLC::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

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

Implements adore::fun::ANominalConstraint.

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Member Data Documentation

direction_

ConstraintDirection adore::fun::AdvancedLateralOffsetConstraintLC::direction_

private

gap_

adore::view::AGap* adore::fun::AdvancedLateralOffsetConstraintLC::gap_

private

hard_safety_distance_

double adore::fun::AdvancedLateralOffsetConstraintLC::hard_safety_distance_

private

lcv_

adore::view::ALaneChangeView* adore::fun::AdvancedLateralOffsetConstraintLC::lcv_

private

min_control_space_

double adore::fun::AdvancedLateralOffsetConstraintLC::min_control_space_

private

phaseEstimator_

LaneChangePhaseEstimator* adore::fun::AdvancedLateralOffsetConstraintLC::phaseEstimator_

private

plat_

adore::params::APLateralPlanner* adore::fun::AdvancedLateralOffsetConstraintLC::plat_

private

pv_

adore::params::APVehicle* adore::fun::AdvancedLateralOffsetConstraintLC::pv_

private

soft_safety_distance_

double adore::fun::AdvancedLateralOffsetConstraintLC::soft_safety_distance_

private

width_

double adore::fun::AdvancedLateralOffsetConstraintLC::width_

private

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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/lanechangeconstraintsandreferences.h