adore::fun::LongitudinalAccelerationConstraint Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::LongitudinalAccelerationConstraint:

Collaboration diagram for adore::fun::LongitudinalAccelerationConstraint:

Public Member Functions
	LongitudinalAccelerationConstraint (adore::params::APLongitudinalPlanner *plon, ANominalConstraint::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::params::APLongitudinalPlanner *	plon_
double	ax_ub_
double	ax_lb_
double	ax_ub_slow_
double	v_ax_ub_slow_
double	ds0_
double	t0_
ANominalConstraint::ConstraintDirection	d_

Additional Inherited Members
Public Types inherited from adore::fun::ANominalConstraint
enum	ConstraintDirection { LB , UB }

Detailed Description

LongitudinalAccelerationConstraint - static bounds on longitudinal acceleration

Constructor & Destructor Documentation

LongitudinalAccelerationConstraint()

adore::fun::LongitudinalAccelerationConstraint::LongitudinalAccelerationConstraint ( adore::params::APLongitudinalPlanner *  plon, ANominalConstraint::ConstraintDirection  d  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::LongitudinalAccelerationConstraint::getDerivative ( )

inlineoverridevirtual

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

Returns

applicable to which state derivative

Implements adore::fun::ANominalConstraint.

getDimension()

virtual int adore::fun::LongitudinalAccelerationConstraint::getDimension ( )

inlineoverridevirtual

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

Returns

applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalConstraint.

getDirection()

virtual ConstraintDirection adore::fun::LongitudinalAccelerationConstraint::getDirection ( )

inlineoverridevirtual

Determine whether this constraint is an upper or lower bound.

Returns

lb or ub

Implements adore::fun::ANominalConstraint.

getValue()

virtual double adore::fun::LongitudinalAccelerationConstraint::getValue ( double  t, double  s, double  ds  ) const

inlineoverridevirtual

return the value of the constraint at a certain time and position

Parameters

t	the time
s	progress along the road-relative coordinate system
ds	derivative of s

Returns

value of the constraint (e.g. vmax for a speed limit)

Implements adore::fun::ANominalConstraint.

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update()

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

inlineoverridevirtual

Refresh values of the constraint 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::ANominalConstraint.

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Member Data Documentation

ax_lb_

double adore::fun::LongitudinalAccelerationConstraint::ax_lb_

private

ax_ub_

double adore::fun::LongitudinalAccelerationConstraint::ax_ub_

private

ax_ub_slow_

double adore::fun::LongitudinalAccelerationConstraint::ax_ub_slow_

private

d_

ANominalConstraint::ConstraintDirection adore::fun::LongitudinalAccelerationConstraint::d_

private

ds0_

double adore::fun::LongitudinalAccelerationConstraint::ds0_

private

plon_

adore::params::APLongitudinalPlanner* adore::fun::LongitudinalAccelerationConstraint::plon_

private

t0_

double adore::fun::LongitudinalAccelerationConstraint::t0_

private

v_ax_ub_slow_

double adore::fun::LongitudinalAccelerationConstraint::v_ax_ub_slow_

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/basicconstraintsandreferences.h