Plans minimum risk maneuver to cancel lane change. More...

#include <continuelcmrmplanner.h>

Inheritance diagram for adore::fun::ContinueLCMRMPlanner< K, P >:

Collaboration diagram for adore::fun::ContinueLCMRMPlanner< K, P >:

Public Member Functions
	ContinueLCMRMPlanner (adore::view::ALaneChangeView lcv, adore::params::APLateralPlanner plat, adore::params::APTacticalPlanner ptac, adore::params::APVehicle pveh, adore::params::APTrajectoryGeneration *ptrajectory, double lateral_i_grid=0.0)

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

void	addConstraint (ANominalConstraint *constraint)

void	addReference (ANominalReference *reference)

Public Member Functions inherited from adore::fun::MRMPlanner< K, P >
void	setJMax (double value)

void	setTStall (double value)

void	setAStall (double value)

void	setAMin (double value)

void	setSecondAttempt (bool value)

	MRMPlanner (adore::view::ALane lfv, adore::params::APLateralPlanner aplat, adore::params::APVehicle apvehicle, adore::params::APTrajectoryGeneration aptrajectory)

TPostProcessConstraints::TInformationSet &	getInformationSet ()

double	amin_medium_brake_trapezoidal (double v0, double a0, double jmin) const
	minimum acceleration that can be achieved before inverting jerk to end with v=0 and a=0 More...

void	t_short_brake_trapezoidal (double v0, double a0, double jmin, double t3)
	times required for ramp up during short brake More...

void	t_medium_brake_trapezoidal (double v0, double a0, double jmin, double &t1, double &t3) const
	times required for ramp down and ramp up during medium brake More...

void	t_long_brake_trapezoidal (double v0, double a0, double amin, double jmin, double &t1, double &t2, double &t3) const
	times required for ramp down, constant and ramp up during long brake More...

int	brake_case_trapezoidal (double v0, double a0, double amin, double jmin) const

void	brake_params_trapezoidal (double v0, double a0, double amin, double jmin, double &a1, double &t1, double &t2, double &t3)
	general parameters More...

double	a_brake_trapezoidal (double t, double a0, double a1, double jmin, double t1, double t2, double t3)

double	j_brake_trapezoidal (double t, double jmin, double t1, double t2, double t3)

virtual void	compute (const VehicleMotionState9d &initial_state)

TPartialPlan &	getLongitudinalPlan ()

TPartialPlan &	getLateralPlan ()

LateralPlanner< K, P > &	getOffsetSolver ()

virtual bool	hasValidPlan () const

virtual const SetPointRequest *	getSetPointRequest () const

virtual double	getCPUTime () const

Additional Inherited Members
Public Types inherited from adore::fun::MRMPlanner< K, P >
typedef adore::mad::LLinearPiecewiseFunctionM< double, N+R >	TPartialPlan

typedef InformationSetPostProcessing< 4, 2 >	TPostProcessConstraints

Static Public Attributes inherited from adore::fun::MRMPlanner< K, P >
static const int	N = 3

static const int	R = 1

Detailed Description

template<int K, int P>
class adore::fun::ContinueLCMRMPlanner< K, P >

Plans minimum risk maneuver to cancel lane change.

Constructor & Destructor Documentation

◆ ContinueLCMRMPlanner()

template<int K, int P>

adore::fun::ContinueLCMRMPlanner< K, P >::ContinueLCMRMPlanner	(	adore::view::ALaneChangeView *	lcv,
		adore::params::APLateralPlanner *	plat,
		adore::params::APTacticalPlanner *	ptac,
		adore::params::APVehicle *	pveh,
		adore::params::APTrajectoryGeneration *	ptrajectory,
		double	lateral_i_grid = `0.0`
	)

inline

Constructor. Initializes references and constraints by linking them to required data abstraction views and parameters.

Parameters

lfv	view for lane changes
plat	lateral planning parameters
pveh	vehicle parameters
ptrajectory	trajectory generation parameters

Here is the call graph for this function:

Member Function Documentation

◆ addConstraint()

template<int K, int P>

void adore::fun::ContinueLCMRMPlanner< K, P >::addConstraint ( ANominalConstraint * constraint )

inline

◆ addReference()

template<int K, int P>

void adore::fun::ContinueLCMRMPlanner< K, P >::addReference ( ANominalReference * reference )

inline

◆ setGap()

template<int K, int P>

void adore::fun::ContinueLCMRMPlanner< K, P >::setGap ( adore::view::AGap * gap )

inline

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ followVehicleConstraint_

template<int K, int P>

FollowPrecedingVehicle adore::fun::ContinueLCMRMPlanner< K, P >::followVehicleConstraint_

private

reference for vehicle lateral position post-processing constraint for longitudinal plan

◆ headingConstraintLB_

template<int K, int P>

HeadingConstraint adore::fun::ContinueLCMRMPlanner< K, P >::headingConstraintLB_

private

constraint for deviation from road direction

◆ headingConstraintUB_

template<int K, int P>

HeadingConstraint adore::fun::ContinueLCMRMPlanner< K, P >::headingConstraintUB_

private

constraint for deviation from road direction

◆ LaneChangeIntoGapReference_

template<int K, int P>

LaneChangeIntoGapReference adore::fun::ContinueLCMRMPlanner< K, P >::LaneChangeIntoGapReference_

private

◆ lateralAccelerationConstraintLB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::ContinueLCMRMPlanner< K, P >::lateralAccelerationConstraintLB_

private

constraint for ay

◆ lateralAccelerationConstraintUB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::ContinueLCMRMPlanner< K, P >::lateralAccelerationConstraintUB_

private

constraint for ay

◆ lateralAccelerationReference_

template<int K, int P>

LateralAccelerationReference adore::fun::ContinueLCMRMPlanner< K, P >::lateralAccelerationReference_

private

curvature compensation

◆ lateralJerkReference_

template<int K, int P>

LateralJerkReference adore::fun::ContinueLCMRMPlanner< K, P >::lateralJerkReference_

private

lateral jerk compensation

◆ lateralOffsetConstraint_left_

template<int K, int P>

LateralOffsetConstraintLC adore::fun::ContinueLCMRMPlanner< K, P >::lateralOffsetConstraint_left_

private

constraint for staying in lane boundaries, which are selected according to gap state

◆ lateralOffsetConstraint_right_

template<int K, int P>

LateralOffsetConstraintLC adore::fun::ContinueLCMRMPlanner< K, P >::lateralOffsetConstraint_right_

private

constraint for staying in lane boundaries, which are selected according to gap state

◆ lateralReference_

template<int K, int P>

ContinueLCReference adore::fun::ContinueLCMRMPlanner< K, P >::lateralReference_

private

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

/home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/continuelcmrmplanner.h

Private Attributes
ContinueLCReference	lateralReference_

LateralAccelerationReference	lateralAccelerationReference_

LateralJerkReference	lateralJerkReference_

LateralOffsetConstraintLC	lateralOffsetConstraint_left_

LateralOffsetConstraintLC	lateralOffsetConstraint_right_

HeadingConstraint	headingConstraintUB_

HeadingConstraint	headingConstraintLB_

LateralAccelerationConstraint	lateralAccelerationConstraintUB_

LateralAccelerationConstraint	lateralAccelerationConstraintLB_

LaneChangeIntoGapReference	LaneChangeIntoGapReference_

FollowPrecedingVehicle	followVehicleConstraint_

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<int K, int P> class adore::fun::ContinueLCMRMPlanner< K, P >

Constructor & Destructor Documentation

◆ ContinueLCMRMPlanner()

Member Function Documentation

◆ addConstraint()

◆ addReference()

◆ setGap()

Member Data Documentation

◆ followVehicleConstraint_

◆ headingConstraintLB_

◆ headingConstraintUB_

◆ LaneChangeIntoGapReference_

◆ lateralAccelerationConstraintLB_

◆ lateralAccelerationConstraintUB_

◆ lateralAccelerationReference_

◆ lateralJerkReference_

◆ lateralOffsetConstraint_left_

◆ lateralOffsetConstraint_right_

◆ lateralReference_

template<int K, int P>
class adore::fun::ContinueLCMRMPlanner< K, P >