ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::fun::SPRTTCNominal Class Reference

#include <basicsetpointrequestevaluators.h>

Inheritance diagram for adore::fun::SPRTTCNominal:
Inheritance graph
Collaboration diagram for adore::fun::SPRTTCNominal:
Collaboration graph

Public Member Functions

 SPRTTCNominal (adore::view::ATrafficPredictionView *predictionView, adore::params::APVehicle *pvehicle=adore::params::ParamsFactoryInstance::get() ->getVehicle())
 
virtual std::string getName () const override
 
virtual double getCost (const adore::fun::SetPointRequest &spr) const override
 

Private Attributes

adore::view::ATrafficPredictionViewpredictionView_
 
adore::params::APVehiclepvehicle_
 

Detailed Description

Apply SPRTTCNominal to nominal maneuver to test for expected time to collison of nominal maneuver with other objects. The cost value returned is ((t_max-ttc)/t_max)^2 \in [0,1]

Constructor & Destructor Documentation

◆ SPRTTCNominal()

adore::fun::SPRTTCNominal::SPRTTCNominal ( adore::view::ATrafficPredictionView predictionView,
adore::params::APVehicle pvehicle = adore::params::ParamsFactoryInstance::get()->getVehicle() 
)
inline

Member Function Documentation

◆ getCost()

virtual double adore::fun::SPRTTCNominal::getCost ( const adore::fun::SetPointRequest spr) const
inlineoverridevirtual
Returns
positive double value for given SetPointRequest

Implements adore::fun::ASPRCost.

Here is the call graph for this function:
Here is the caller graph for this function:

◆ getName()

virtual std::string adore::fun::SPRTTCNominal::getName ( ) const
inlineoverridevirtual
Returns
name of cost function or objective

Implements adore::fun::ASPRCost.

Here is the caller graph for this function:

Member Data Documentation

◆ predictionView_

adore::view::ATrafficPredictionView* adore::fun::SPRTTCNominal::predictionView_
private

◆ pvehicle_

adore::params::APVehicle* adore::fun::SPRTTCNominal::pvehicle_
private

The documentation for this class was generated from the following file: