adore::fun::SetPointRequestSwath Class Reference

#include <setpointrequestswath.h>

Collaboration diagram for adore::fun::SetPointRequestSwath:

Public Member Functions
void	setL (double value)
void	setW (double value)
void	setP (double value)
void	setLatPrecision (double value)
void	setLatError (double value)
void	setLonError (double value)
void	setDuration (double value)
void	setAccelerationErrorSlow (double value)
	SetPointRequestSwath (double l, double w, double p, double lat_precision, double lat_error=0.0, double lon_error=0.0)
void	append_cylinder_swath_linear (const SetPointRequest &spr, adore::mad::OccupancyCylinderTree &prediction, bool terminal=false)

Private Attributes
double	l_
double	w_
double	p_
double	lat_precision_
double	lat_error_
double	lon_error_
double	duration_
double	a_e_

Constructor & Destructor Documentation

SetPointRequestSwath()

adore::fun::SetPointRequestSwath::SetPointRequestSwath ( double  l, double  w, double  p, double  lat_precision, double  lat_error = 0.0, double  lon_error = 0.0  )

inline

Member Function Documentation

append_cylinder_swath_linear()

void adore::fun::SetPointRequestSwath::append_cylinder_swath_linear ( const SetPointRequest &  spr, adore::mad::OccupancyCylinderTree &  prediction, bool  terminal = false  )

inline

Represents the space occupied by the vehicle during execution of a SetPointRequest as an OccupancyCylinderTree. It is assumed that deviation from the SetPointRequest is constant. The coverage is computed approximated using a simple, sampling-based approach with linear interpolation for the motion of the vehicle body. The curving of non-linear paths is ignored and it is assumed that interpolation of given SetPointRequest is sufficient to achieve desired precision. The resulting cylinders are appended to level 0 of the OccupancyCylinderTree.

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setAccelerationErrorSlow()

void adore::fun::SetPointRequestSwath::setAccelerationErrorSlow ( double  value )

inline

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setDuration()

void adore::fun::SetPointRequestSwath::setDuration ( double  value )

inline

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setL()

void adore::fun::SetPointRequestSwath::setL ( double  value )

inline

setLatError()

void adore::fun::SetPointRequestSwath::setLatError ( double  value )

inline

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setLatPrecision()

void adore::fun::SetPointRequestSwath::setLatPrecision ( double  value )

inline

setLonError()

void adore::fun::SetPointRequestSwath::setLonError ( double  value )

inline

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setP()

void adore::fun::SetPointRequestSwath::setP ( double  value )

inline

setW()

void adore::fun::SetPointRequestSwath::setW ( double  value )

inline

Member Data Documentation

a_e_

double adore::fun::SetPointRequestSwath::a_e_

private

being slower than expected acceleration error

duration_

double adore::fun::SetPointRequestSwath::duration_

private

minimum prediction duration for vehicle in standstill

l_

double adore::fun::SetPointRequestSwath::l_

private

length of vehicle

lat_error_

double adore::fun::SetPointRequestSwath::lat_error_

private

initial (and constant) (measurement) error to the side of the vehicle

lat_precision_

double adore::fun::SetPointRequestSwath::lat_precision_

private

maximum lateral overapproximation of the vehicle body

lon_error_

double adore::fun::SetPointRequestSwath::lon_error_

private

initial (measurement) error in movement direction of the vehicle

p_

double adore::fun::SetPointRequestSwath::p_

private

distance from rear bumper to reference point of set point request

w_

double adore::fun::SetPointRequestSwath::w_

private

width of vehicle

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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/safety/setpointrequestswath.h