adore::fun::RoadCoordinateConverter Class Reference

#include <roadcoordinates.h>

Collaboration diagram for adore::fun::RoadCoordinateConverter:

Classes
class	ZeroDynamicsModel

Public Member Functions
	RoadCoordinateConverter (adore::view::ALane *lfg, adore::params::APVehicle *p, adore::params::APTrajectoryGeneration *tp)
bool	isValid ()
void	updateParameters (adore::params::APVehicle *p, adore::params::APTrajectoryGeneration *tp)
RoadCoordinates	toRoadCoordinates (const PlanarVehicleState10d &x, bool log=false)
void	toVehicleState (const RoadCoordinates &r, double psi, double omega, PlanarVehicleState10d &x, bool log=false)
adoreMatrix< double, 0, 0 >	toVehicleStateTrajectory (adore::mad::AScalarToN< double, 4 > *lon_trajectory_rc, adore::mad::AScalarToN< double, 4 > *lat_trajectory_rc, const adoreMatrix< double, 1, 0 > &integration_time, double s0, double psi0, double omega0)

Private Attributes
adore::view::ALane *	lfg_
VLB_OpenLoop	model_
adoreMatrix< double, 0, 1 >	dx_
double	a_
double	b_
double	L_
double	h_
double	g_
double	mu_
double	cf_
double	cr_
double	Iz_m_
double	rho_

Detailed Description

Converts vehicles state between road relative frame and Euclidean/vehicle frame

Constructor & Destructor Documentation

RoadCoordinateConverter()

adore::fun::RoadCoordinateConverter::RoadCoordinateConverter ( adore::view::ALane *  lfg, adore::params::APVehicle *  p, adore::params::APTrajectoryGeneration *  tp  )

inline

Constructor

Parameters

lfg	lane following view supplies road relative coordinate system
p	vehicle parameters
tp	trajectory generation parameters

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Member Function Documentation

isValid()

bool adore::fun::RoadCoordinateConverter::isValid ( )

inline

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toRoadCoordinates()

RoadCoordinates adore::fun::RoadCoordinateConverter::toRoadCoordinates ( const PlanarVehicleState10d &  x, bool  log = false  )

inline

Compute road coordinates from vehicle state.

Parameters

x	vehicle state in Euclidean coordinates

Returns

state in road-relative coordinates

currently not required

currently not required

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toVehicleState()

void adore::fun::RoadCoordinateConverter::toVehicleState ( const RoadCoordinates &  r, double  psi, double  omega, PlanarVehicleState10d &  x, bool  log = false  )

inline

Compute vehicle state from road coordiantes The zero dynamic state has to be provided in order to allow the euqation to be solved. In this method, the zero dynamic state is represented by z=[psi,omega=d psi/dt]

Parameters

r	the vehicle state in road-relative coordinates
psi	the yaw angle of the vehicle, when arriving at r
omega	the yaw rate of the vehicle, when arriving at r
x	the resulting full vehicle state with position in Euclidean cordinates. Returned by function.

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toVehicleStateTrajectory()

adoreMatrix<double,0,0> adore::fun::RoadCoordinateConverter::toVehicleStateTrajectory ( adore::mad::AScalarToN< double, 4 > *  lon_trajectory_rc, adore::mad::AScalarToN< double, 4 > *  lat_trajectory_rc, const adoreMatrix< double, 1, 0 > &  integration_time, double  s0, double  psi0, double  omega0  )

inline

Converts a decoupled plan in road coordinates into a 10d vehicle state trajectory. The zero dynamics are initialized with psi0 and omega0 (expected states at the beginning of the plan).

Parameters

lon_trajectory_rc	the longitudinal plan
lat_trajectory_rc	the lateral plan
integration_time	the time parametrization of the resulting trajectory, also time steps of integration
s0	progress offset to be used if longitudinal plan starts at 0
psi0	initial heading of vehicle
omega0	initial yaw rate of vehicle

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updateParameters()

void adore::fun::RoadCoordinateConverter::updateParameters ( adore::params::APVehicle *  p, adore::params::APTrajectoryGeneration *  tp  )

inline

update and cache parameters

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Member Data Documentation

a_

double adore::fun::RoadCoordinateConverter::a_

private

b_

double adore::fun::RoadCoordinateConverter::b_

private

cf_

double adore::fun::RoadCoordinateConverter::cf_

private

cr_

double adore::fun::RoadCoordinateConverter::cr_

private

dx_

adoreMatrix<double,0,1> adore::fun::RoadCoordinateConverter::dx_

private

g_

double adore::fun::RoadCoordinateConverter::g_

private

h_

double adore::fun::RoadCoordinateConverter::h_

private

Iz_m_

double adore::fun::RoadCoordinateConverter::Iz_m_

private

L_

double adore::fun::RoadCoordinateConverter::L_

private

lfg_

adore::view::ALane* adore::fun::RoadCoordinateConverter::lfg_

private

model_

VLB_OpenLoop adore::fun::RoadCoordinateConverter::model_

private

mu_

double adore::fun::RoadCoordinateConverter::mu_

private

rho_

double adore::fun::RoadCoordinateConverter::rho_

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/roadcoordinates.h