#include <anominalplannerinformation.h>
Public Member Functions | |
NominalPlannerInformationSet () | |
void | add (ANominalReference *r) |
void | add (ANominalConstraint *c) |
bool | remove (ANominalConstraint *c) |
bool | remove (ANominalReference *r) |
void | add (ANominalPlannerInformation *value) |
bool | remove (ANominalPlannerInformation *value) |
virtual bool | getReferenceIfAvailable (int dim, int der, double t, double s, double ds, double &ref) const override |
virtual double | getUB (int dim, int der, double t, double s, double ds) const override |
virtual double | getLB (int dim, int der, double t, double s, double ds) const override |
virtual void | update (double t0, double s0, double ds0) override |
Private Types | |
typedef std::vector< ANominalConstraint * > | TCset |
typedef std::vector< ANominalReference * > | TRset |
typedef std::vector< ANominalPlannerInformation * > | TIset |
Private Attributes | |
TCset | bound_ [D *N *2] |
TRset | ref_ [D *N] |
TIset | subsets_ |
double | unbound_ |
NominalPlannerInformationSet - implements ANominalPlannerInformation by collecting a set of references and constraints. N is the number of derivatives D is the number of dimensions to be made available
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Constructor. Sets of constraints and references are initialized empty.
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Adds a new constraint to the set.
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Adds a set of references and constraints as a subset.
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Adds a new reference to the set.
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Lower bound.
dim | the dimension (longitudinal/lateral) |
der | the derivative |
t | the time |
s | the progress along road-relative coordinate system |
ds | the derivative of s |
Implements adore::fun::ANominalPlannerInformation.
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Evaluate reference.
dim | the dimension (longitudinal/lateral) |
der | the derivative |
t | the time |
s | the progress along road-relative coordinate system |
ds | the derivative of s |
ref | the resulting reference value returned by the function |
Implements adore::fun::ANominalPlannerInformation.
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inlineoverridevirtual |
Upper bound.
dim | the dimension (longitudinal/lateral) |
der | the derivative |
t | the time |
s | the progress along road-relative coordinate system |
ds | the derivative of s |
Implements adore::fun::ANominalPlannerInformation.
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Removes a constraint from the set.
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Removes a set of references and constraints as a subset.
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Removes a reference from the set.
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Update all contained reference and constraint objects.
t0 | start time for planning |
s0 | start progress in road-relative coordinate system |
ds0 | derivative of s at t0 |
Implements adore::fun::ANominalPlannerInformation.
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set of constraint objects
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set of reference objects
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set of ANominalPlannerInformation bundles, for grouping of existing constraint/reference sets
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