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

#include <basicconstraintsandreferences.h>

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Public Member Functions

 FollowCenterlineReference (adore::view::ALane *lfv, double i_grid=0.0)
 
virtual bool getValueIfAvailable (double t, double s, double ds, double &ref) const override
 
virtual void update (double t0, double s0, double ds0) override
 
virtual int getDimension () override
 
virtual int getDerivative () override
 

Private Attributes

adore::view::ALanelfv_
 
adore::params::APLateralPlannerp_lat_
 
adore::params::APVehiclep_veh_
 
double d_
 
double dmax_
 lateral grid scale More...
 
double w_
 hard safety distance More...
 
double i_grid_
 width of vehicle More...
 

Detailed Description

FollowCenterlineReference - use this reference to follow the coordinate system of the lane following view

Constructor & Destructor Documentation

◆ FollowCenterlineReference()

adore::fun::FollowCenterlineReference::FollowCenterlineReference ( adore::view::ALane lfv,
double  i_grid = 0.0 
)
inline
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Member Function Documentation

◆ getDerivative()

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

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

Returns
applicable to which state derivative

Implements adore::fun::ANominalReference.

◆ getDimension()

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

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

Returns
applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalReference.

◆ getValueIfAvailable()

virtual bool adore::fun::FollowCenterlineReference::getValueIfAvailable ( double  t,
double  s,
double  ds,
double &  ref 
) const
inlineoverridevirtual

Determine whether a reference is available and retrieve its value.

Parameters
ttime
sprogress along coordinate system
Returns
true, if a reference is available

Implements adore::fun::ANominalReference.

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◆ update()

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

Refresh values of the reference 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::ANominalReference.

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Member Data Documentation

◆ d_

double adore::fun::FollowCenterlineReference::d_
private

◆ dmax_

double adore::fun::FollowCenterlineReference::dmax_
private

lateral grid scale

◆ i_grid_

double adore::fun::FollowCenterlineReference::i_grid_
private

width of vehicle

◆ lfv_

adore::view::ALane* adore::fun::FollowCenterlineReference::lfv_
private

◆ p_lat_

adore::params::APLateralPlanner* adore::fun::FollowCenterlineReference::p_lat_
private

◆ p_veh_

adore::params::APVehicle* adore::fun::FollowCenterlineReference::p_veh_
private

◆ w_

double adore::fun::FollowCenterlineReference::w_
private

hard safety distance


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