adore::fun::InformationSetPostProcessing< N, D > Class Template Reference

#include <informationsetpostprocessing.h>

Collaboration diagram for adore::fun::InformationSetPostProcessing< N, D >:

Public Types
typedef NominalPlannerInformationSet< N+1, 2 >	TInformationSet

Public Member Functions
TInformationSet &	getInformationSet ()
template<int K>
bool	isLongitudinalPlanValid (double t0_offset, double s0_offset, adore::mad::LLinearPiecewiseFunctionM< double, K > *longitudinal_plan)
template<int K1, int K2>
bool	isLateralPlanValid (double t0_offset, double s0_offset, adore::mad::LLinearPiecewiseFunctionM< double, K1 > *longitudinal_plan, adore::mad::LLinearPiecewiseFunctionM< double, K2 > *lateral_plan)

Private Attributes
TInformationSet	info_

Detailed Description

template<int N, int D>
class adore::fun::InformationSetPostProcessing< N, D >

Usually, the constraints in the NominalPlannerInformationSet are pre-processed before trajectory optimization. Nonetheless, sometimes it might be convenient to apply the NominalConstraints in post-processing, after optimization. InformationSetPostProcessing applies NominalConstraints to finished plan and tests whether all constraints are satisfied. The finished plan has to be supplied in road-relvative coordinates, as all NominalConstraints are thus formulated. Template parameters direclty correspond to referenced NominalPlannerInformationSet.

Member Typedef Documentation

TInformationSet

template<int N, int D>

typedef NominalPlannerInformationSet<N+1,2> adore::fun::InformationSetPostProcessing< N, D >::TInformationSet

Member Function Documentation

getInformationSet()

template<int N, int D>

TInformationSet& adore::fun::InformationSetPostProcessing< N, D >::getInformationSet ( )

inline

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isLateralPlanValid()

template<int N, int D>

template<int K1, int K2>

bool adore::fun::InformationSetPostProcessing< N, D >::isLateralPlanValid ( double  t0_offset, double  s0_offset, adore::mad::LLinearPiecewiseFunctionM< double, K1 > *  longitudinal_plan, adore::mad::LLinearPiecewiseFunctionM< double, K2 > *  lateral_plan  )

inline

Test the validity of a lateral plan. Returns true if valid. Test requires longitudinal and lateral plan for computation, but evaluates only lateral constraints.

Parameters

K1	number of derivatives of longitudinal plan
K2	number of derivatives of lateral plan
t0_offset	time offset of plan
s0_offset	longitudinal position offset of plan
longitudinal_plan	trajectory t->(s,s',s''...), where s is the component on the first axis of the road coordinate system
lateral_plan	trajectory t->(n,n',n''...), where n is the component on the second axis of the road coordinate system

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isLongitudinalPlanValid()

template<int N, int D>

template<int K>

bool adore::fun::InformationSetPostProcessing< N, D >::isLongitudinalPlanValid ( double  t0_offset, double  s0_offset, adore::mad::LLinearPiecewiseFunctionM< double, K > *  longitudinal_plan  )

inline

Test the validity of a longitudinal plan. Returns true if valid.

Parameters

K	number of derivatives given by longitudinal plan
t0_offset	time offset of plan
s0_offset	longitudinal position offset of plan
longitudinal_plan	trajectory t->(s,s',s''...), where s is the component on the first axis of the road coordinate system

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Member Data Documentation

info_

template<int N, int D>

TInformationSet adore::fun::InformationSetPostProcessing< N, D >::info_

private

the set of constraints, which are evaluated

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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/informationsetpostprocessing.h