adore::fun::LowerBoundSGapToPrecedingVehicle Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::LowerBoundSGapToPrecedingVehicle:

Collaboration diagram for adore::fun::LowerBoundSGapToPrecedingVehicle:

Public Member Functions
	LowerBoundSGapToPrecedingVehicle (adore::view::ALane *lane, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen)
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 *	lane_
const adore::params::APTacticalPlanner *	ptac_
const adore::params::APVehicle *	pveh_
const adore::params::APTrajectoryGeneration *	pgen_
double	s_front_t0_
double	v_front_t0_
double	t0_
double	amin_

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

Detailed Description

A constraint, which upper bounds the position of the ego vehicle according to the nearest preceding vehicle with a constant distance only. Braking curve and time gap are not considered.

Constructor & Destructor Documentation

LowerBoundSGapToPrecedingVehicle()

adore::fun::LowerBoundSGapToPrecedingVehicle::LowerBoundSGapToPrecedingVehicle ( adore::view::ALane *  lane, const adore::params::APVehicle *  pveh, const adore::params::APTacticalPlanner *  ptac, const adore::params::APTrajectoryGeneration *  pgen  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::LowerBoundSGapToPrecedingVehicle::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::LowerBoundSGapToPrecedingVehicle::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::LowerBoundSGapToPrecedingVehicle::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::LowerBoundSGapToPrecedingVehicle::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.

update()

virtual void adore::fun::LowerBoundSGapToPrecedingVehicle::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.

Here is the call graph for this function:

Member Data Documentation

amin_

double adore::fun::LowerBoundSGapToPrecedingVehicle::amin_

private

minimum assumed acceleration for preceding vehicle

lane_

adore::view::ALane* adore::fun::LowerBoundSGapToPrecedingVehicle::lane_

private

pgen_

const adore::params::APTrajectoryGeneration* adore::fun::LowerBoundSGapToPrecedingVehicle::pgen_

private

ptac_

const adore::params::APTacticalPlanner* adore::fun::LowerBoundSGapToPrecedingVehicle::ptac_

private

pveh_

const adore::params::APVehicle* adore::fun::LowerBoundSGapToPrecedingVehicle::pveh_

private

s_front_t0_

double adore::fun::LowerBoundSGapToPrecedingVehicle::s_front_t0_

private

constraint position at t0

t0_

double adore::fun::LowerBoundSGapToPrecedingVehicle::t0_

private

observation time

v_front_t0_

double adore::fun::LowerBoundSGapToPrecedingVehicle::v_front_t0_

private

constraint velocity at t0

---

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