adore::fun::SPRNavigationCostOnLane Class Reference

#include <basicsetpointrequestevaluators.h>

Inheritance diagram for adore::fun::SPRNavigationCostOnLane:

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Public Member Functions
	SPRNavigationCostOnLane (adore::view::AThreeLaneView *threeLaneView, adore::params::APTacticalPlanner *params, int laneID)
virtual std::string	getName () const override
virtual double	getCost (const adore::fun::SetPointRequest &spr) const override
double	nav_cost_of_lane (const adore::fun::SetPointRequest &spr, int laneid) const
	minimum cost of given lane, independent of trajectory More...

Private Attributes
adore::view::AThreeLaneView *	threeLaneView_
adore::params::APTacticalPlanner *	params_
double	max_overshoot_
int	laneID_

Detailed Description

Apply SPRNavigationCostOnLane to nominal manuever to investigate how good a lane is at navigating towards the goal.

Constructor & Destructor Documentation

SPRNavigationCostOnLane()

adore::fun::SPRNavigationCostOnLane::SPRNavigationCostOnLane ( adore::view::AThreeLaneView *  threeLaneView, adore::params::APTacticalPlanner *  params, int  laneID  )

inline

Member Function Documentation

getCost()

virtual double adore::fun::SPRNavigationCostOnLane::getCost ( const adore::fun::SetPointRequest &  spr ) const

inlineoverridevirtual

Returns

positive double value for given SetPointRequest

Implements adore::fun::ASPRCost.

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getName()

virtual std::string adore::fun::SPRNavigationCostOnLane::getName ( ) const

inlineoverridevirtual

Returns

name of cost function or objective

Implements adore::fun::ASPRCost.

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nav_cost_of_lane()

double adore::fun::SPRNavigationCostOnLane::nav_cost_of_lane ( const adore::fun::SetPointRequest &  spr, int  laneid  ) const

inline

minimum cost of given lane, independent of trajectory

Parameters

lane	index of lane: 0 current, -1 right, 1 left

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Member Data Documentation

laneID_

int adore::fun::SPRNavigationCostOnLane::laneID_

private

max_overshoot_

double adore::fun::SPRNavigationCostOnLane::max_overshoot_

private

evaluate navigation cost correctly, even if vehicle has slightly surpassed navigation goal

params_

adore::params::APTacticalPlanner* adore::fun::SPRNavigationCostOnLane::params_

private

threeLaneView_

adore::view::AThreeLaneView* adore::fun::SPRNavigationCostOnLane::threeLaneView_

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/basicsetpointrequestevaluators.h