#include <basicconstraintsandreferences.h>
Public Member Functions | |
LateralAccelerationConstraint (adore::view::ALane *lfv, adore::params::APLateralPlanner *p, ConstraintDirection d) | |
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 | |
adore::view::ALane * | lfv_ |
adore::params::APLateralPlanner * | p_ |
double | ay_ub_ |
double | ay_lb_ |
double | curvature_ub_ |
double | curvature_lb_ |
ConstraintDirection | d_ |
Additional Inherited Members | |
Public Types inherited from adore::fun::ANominalConstraint | |
enum | ConstraintDirection { LB , UB } |
LateralAccelerationConstraint - limit lateral acceleration during lateral planning limitations are set by maximum curvature (steering angle limitation) and maximum lateral acceleration compensating lateral acceleration of road-coordinates
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inline |
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inlineoverridevirtual |
Determine for which derivative of given dimension this constraint is responsible.
Implements adore::fun::ANominalConstraint.
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inlineoverridevirtual |
Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)
Implements adore::fun::ANominalConstraint.
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inlineoverridevirtual |
Determine whether this constraint is an upper or lower bound.
Implements adore::fun::ANominalConstraint.
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inlineoverridevirtual |
return the value of the constraint at a certain time and position
t | the time |
s | progress along the road-relative coordinate system |
ds | derivative of s |
Implements adore::fun::ANominalConstraint.
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inlineoverridevirtual |
Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.
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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private |
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private |
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private |
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private |
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private |
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