adore::fun::SPRNormalizedNavigationCost Class Reference

#include <basicsetpointrequestevaluators.h>

Inheritance diagram for adore::fun::SPRNormalizedNavigationCost:

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Public Member Functions
	SPRNormalizedNavigationCost (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	normalized_nav_cost_simple (const adore::fun::SetPointRequest &spr, int laneid) const
	simplified version of normalized_nav_cost: lane is given More...

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

Detailed Description

Apply SPRNormalizedNavigationCost to nominal manuever to investigate how good it is at navigating towards the goal.

Constructor & Destructor Documentation

SPRNormalizedNavigationCost()

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

inline

Member Function Documentation

getCost()

virtual double adore::fun::SPRNormalizedNavigationCost::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::SPRNormalizedNavigationCost::getName ( ) const

inlineoverridevirtual

Returns

name of cost function or objective

Implements adore::fun::ASPRCost.

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normalized_nav_cost_simple()

double adore::fun::SPRNormalizedNavigationCost::normalized_nav_cost_simple ( const adore::fun::SetPointRequest &  spr, int  laneid  ) const

inline

simplified version of normalized_nav_cost: lane is given

Parameters

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

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Member Data Documentation

laneID_

int adore::fun::SPRNormalizedNavigationCost::laneID_

private

max_overshoot_

double adore::fun::SPRNormalizedNavigationCost::max_overshoot_

private

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

params_

adore::params::APTacticalPlanner* adore::fun::SPRNormalizedNavigationCost::params_

private

threeLaneView_

adore::view::AThreeLaneView* adore::fun::SPRNormalizedNavigationCost::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