#include <basicconstraintsandreferences.h>
Public Member Functions | |
CurvatureSpeedLimit (adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon) | |
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::ALane * | lfv_ |
adore::params::APLongitudinalPlanner * | plon_ |
double | lon_ayub_ |
double | vmin_ay_ |
Additional Inherited Members | |
Public Types inherited from adore::fun::ANominalConstraint | |
enum | ConstraintDirection { LB , UB } |
CurvatureSpeedLimit - limit speed during longitudinal planning in order to gain bounded lateral acceleration in curve |ds(t)^2 * kappa(s(t))| < ay_max
|
inline |
|
inlineoverridevirtual |
Determine for which derivative of given dimension this constraint is responsible.
Implements adore::fun::ANominalConstraint.
|
inlineoverridevirtual |
Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)
Implements adore::fun::ANominalConstraint.
|
inlineoverridevirtual |
Determine whether this constraint is an upper or lower bound.
Implements adore::fun::ANominalConstraint.
|
inlineoverridevirtual |
return the value of the constraint at a certain time and position
t | the time |
s | progress along the road-relative coordinate system |
ds | derivative of s |
Implements adore::fun::ANominalConstraint.
|
inlineoverridevirtual |
Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.
t0 | start time for planning |
s0 | start progress in road-relative coordinate system |
ds0 | derivative of s at t0 |
Implements adore::fun::ANominalConstraint.
|
private |
|
private |
|
private |
|
private |