adore::fun::LaneChangeIntoGapReference Class Reference

#include <lanechangeconstraintsandreferences.h>

Inheritance diagram for adore::fun::LaneChangeIntoGapReference:

Collaboration diagram for adore::fun::LaneChangeIntoGapReference:

Public Member Functions
	LaneChangeIntoGapReference (adore::view::ALaneChangeView *lcv, adore::params::APVehicle *pv, adore::params::APLateralPlanner *plat, double i_grid=0.0)
void	setGap (adore::view::AGap *gap)
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::ALaneChangeView *	lcv_
adore::params::APVehicle *	pv_
adore::params::APLateralPlanner *	plat_
adore::view::AGap *	gap_
double	width_
double	hard_safety_distance_
double	soft_safety_distance_
double	min_control_space_
double	d_
double	i_grid_
	lateral grid scale More...

Detailed Description

LaneChangeIntoGapReference - use this reference for lateral profile of lane changes

Constructor & Destructor Documentation

LaneChangeIntoGapReference()

adore::fun::LaneChangeIntoGapReference::LaneChangeIntoGapReference ( adore::view::ALaneChangeView *  lcv, adore::params::APVehicle *  pv, adore::params::APLateralPlanner *  plat, double  i_grid = 0.0  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::LaneChangeIntoGapReference::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::LaneChangeIntoGapReference::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::LaneChangeIntoGapReference::getValueIfAvailable ( double  t, double  s, double  ds, double &  ref  ) const

inlineoverridevirtual

Determine whether a reference is available and retrieve its value.

Parameters

t	time
s	progress along coordinate system

Returns

true, if a reference is available

Implements adore::fun::ANominalReference.

Here is the call graph for this function:

setGap()

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

inline

Here is the caller graph for this function:

update()

virtual void adore::fun::LaneChangeIntoGapReference::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

t0	start time for planning
s0	start progress in road-relative coordinate system
ds0	derivative of s at t0

Implements adore::fun::ANominalReference.

Here is the call graph for this function:

Member Data Documentation

d_

double adore::fun::LaneChangeIntoGapReference::d_

private

gap_

adore::view::AGap* adore::fun::LaneChangeIntoGapReference::gap_

private

hard_safety_distance_

double adore::fun::LaneChangeIntoGapReference::hard_safety_distance_

private

i_grid_

double adore::fun::LaneChangeIntoGapReference::i_grid_

private

lateral grid scale

lcv_

adore::view::ALaneChangeView* adore::fun::LaneChangeIntoGapReference::lcv_

private

min_control_space_

double adore::fun::LaneChangeIntoGapReference::min_control_space_

private

plat_

adore::params::APLateralPlanner* adore::fun::LaneChangeIntoGapReference::plat_

private

pv_

adore::params::APVehicle* adore::fun::LaneChangeIntoGapReference::pv_

private

soft_safety_distance_

double adore::fun::LaneChangeIntoGapReference::soft_safety_distance_

private

width_

double adore::fun::LaneChangeIntoGapReference::width_

private

---

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/lanechangeconstraintsandreferences.h