adore::fun::CurvatureSpeedLimitPredict Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::CurvatureSpeedLimitPredict:

Collaboration diagram for adore::fun::CurvatureSpeedLimitPredict:

Public Member Functions
	CurvatureSpeedLimitPredict (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
CurvatureSpeedLimit	csl_
double	sstep_
double	smax_
double	s_curvature_lookahead_
double	a
adore::params::APLongitudinalPlanner *	plon_

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

Detailed Description

CurvatureSpeedLimitPredict - applies comfort deceleration curve predictively

Constructor & Destructor Documentation

CurvatureSpeedLimitPredict()

adore::fun::CurvatureSpeedLimitPredict::CurvatureSpeedLimitPredict ( adore::view::ALane *  lfv, adore::params::APLongitudinalPlanner *  plon  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::CurvatureSpeedLimitPredict::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::CurvatureSpeedLimitPredict::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::CurvatureSpeedLimitPredict::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::CurvatureSpeedLimitPredict::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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update()

virtual void adore::fun::CurvatureSpeedLimitPredict::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

a

double adore::fun::CurvatureSpeedLimitPredict::a

private

csl_

CurvatureSpeedLimit adore::fun::CurvatureSpeedLimitPredict::csl_

private

plon_

adore::params::APLongitudinalPlanner* adore::fun::CurvatureSpeedLimitPredict::plon_

private

s_curvature_lookahead_

double adore::fun::CurvatureSpeedLimitPredict::s_curvature_lookahead_

private

smax_

double adore::fun::CurvatureSpeedLimitPredict::smax_

private

sstep_

double adore::fun::CurvatureSpeedLimitPredict::sstep_

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/basicconstraintsandreferences.h