adore::fun::LaneChangePhaseEstimator Class Reference

#include <lanechangeconstraintsandreferences.h>

Inheritance diagram for adore::fun::LaneChangePhaseEstimator:

Collaboration diagram for adore::fun::LaneChangePhaseEstimator:

Public Member Functions
	LaneChangePhaseEstimator (adore::view::ALaneChangeView *lcv, adore::params::APVehicle *pv, adore::params::APLateralPlanner *plat, adore::params::APTrajectoryGeneration *pgen, adore::params::APTacticalPlanner *ptac)
void	setGap (adore::view::AGap *gap)
LaneChangePhase	getLaneChangePhase (double t, double s)
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 *	pveh_
adore::params::APLateralPlanner *	plat_
adore::params::APTrajectoryGeneration *	pgen_
adore::params::APTacticalPlanner *	ptac_
adore::view::AGap *	gap_
double	width_
double	s_front_t0_
double	v_front_t0_
double	sgap_
double	t0_

Detailed Description

LaneChangePhaseEstimator - provides estimation for current LaneChangePhase to do: re-arrange code structure. this is no ANominalReference -> shift this functionality to the Gap itself?

Constructor & Destructor Documentation

LaneChangePhaseEstimator()

adore::fun::LaneChangePhaseEstimator::LaneChangePhaseEstimator ( adore::view::ALaneChangeView *  lcv, adore::params::APVehicle *  pv, adore::params::APLateralPlanner *  plat, adore::params::APTrajectoryGeneration *  pgen, adore::params::APTacticalPlanner *  ptac  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::LaneChangePhaseEstimator::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::LaneChangePhaseEstimator::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.

getLaneChangePhase()

LaneChangePhase adore::fun::LaneChangePhaseEstimator::getLaneChangePhase ( double  t, double  s  )

inline

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getValueIfAvailable()

virtual bool adore::fun::LaneChangePhaseEstimator::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.

setGap()

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

inline

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update()

virtual void adore::fun::LaneChangePhaseEstimator::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.

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Member Data Documentation

gap_

adore::view::AGap* adore::fun::LaneChangePhaseEstimator::gap_

private

lcv_

adore::view::ALaneChangeView* adore::fun::LaneChangePhaseEstimator::lcv_

private

pgen_

adore::params::APTrajectoryGeneration* adore::fun::LaneChangePhaseEstimator::pgen_

private

plat_

adore::params::APLateralPlanner* adore::fun::LaneChangePhaseEstimator::plat_

private

ptac_

adore::params::APTacticalPlanner* adore::fun::LaneChangePhaseEstimator::ptac_

private

pveh_

adore::params::APVehicle* adore::fun::LaneChangePhaseEstimator::pveh_

private

s_front_t0_

double adore::fun::LaneChangePhaseEstimator::s_front_t0_

private

sgap_

double adore::fun::LaneChangePhaseEstimator::sgap_

private

t0_

double adore::fun::LaneChangePhaseEstimator::t0_

private

v_front_t0_

double adore::fun::LaneChangePhaseEstimator::v_front_t0_

private

width_

double adore::fun::LaneChangePhaseEstimator::width_

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/lanechangeconstraintsandreferences.h