adore::fun::NominalReferenceSpeed Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::NominalReferenceSpeed:

Collaboration diagram for adore::fun::NominalReferenceSpeed:

Public Member Functions
	NominalReferenceSpeed (adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon, adore::params::APTacticalPlanner *ptac)
virtual bool	getValueIfAvailable (double t, double s, double ds, double &ref) const override
void	setSpeedScale (double value)
virtual void	update (double t0, double s0, double ds0) override
virtual int	getDimension () override
virtual int	getDerivative () override

Private Attributes
adore::view::ALane *	lfv_
LFVSpeedLimit	lFVSpeedLimit_
CurvatureSpeedLimit	curvatureSpeedLimit_
adore::params::APLongitudinalPlanner *	plon_
double	constraintClearance_
double	speed_scale_

Detailed Description

NominalReferenceSpeed - use this reference for unconstrained nominal planning - maximize speed

Constructor & Destructor Documentation

NominalReferenceSpeed()

adore::fun::NominalReferenceSpeed::NominalReferenceSpeed ( adore::view::ALane *  lfv, adore::params::APLongitudinalPlanner *  plon, adore::params::APTacticalPlanner *  ptac  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::NominalReferenceSpeed::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::NominalReferenceSpeed::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.

getValueIfAvailable()

virtual bool adore::fun::NominalReferenceSpeed::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.

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setSpeedScale()

void adore::fun::NominalReferenceSpeed::setSpeedScale ( double  value )

inline

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update()

virtual void adore::fun::NominalReferenceSpeed::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

constraintClearance_

double adore::fun::NominalReferenceSpeed::constraintClearance_

private

curvatureSpeedLimit_

CurvatureSpeedLimit adore::fun::NominalReferenceSpeed::curvatureSpeedLimit_

private

lfv_

adore::view::ALane* adore::fun::NominalReferenceSpeed::lfv_

private

lFVSpeedLimit_

LFVSpeedLimit adore::fun::NominalReferenceSpeed::lFVSpeedLimit_

private

plon_

adore::params::APLongitudinalPlanner* adore::fun::NominalReferenceSpeed::plon_

private

speed_scale_

double adore::fun::NominalReferenceSpeed::speed_scale_

private

speed_scale_ allows to drive (cautiosly) at a certain percentage of the maximum speed

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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