#include <lanechangeconstraintsandreferences.h>
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StdGapConstraintAndReference (adore::view::ALane *lfv, adore::view::ALaneChangeView *lcv, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen) | |
gapState | getGapState (double t) const |
virtual double | getUB (int dim, int der, double t, double s, double ds) const override |
getUB returns the upper bound for the offset's der's derivative in dimension dim More... | |
virtual double | getLB (int dim, int der, double t, double s, double ds) const override |
getLB returns the lower bound for the offset's der's derivative in dimension dim More... | |
virtual bool | getReferenceIfAvailable (int dim, int der, double t, double s, double ds, double &ref) const override |
getReferenceIfAvailable returns true if the reference for the dimension and derivative is available and then writes the reference into ref More... | |
virtual void | update (double t0, double s0, double ds0) override |
update update all constraints and references More... | |
double | getFrontBound (double t) const |
double | getLeadBound (double t) const |
double | getChaseBound (double t) const |
double | getGapCoordinate () const |
void | setGapCoordinate (double s) |
Private Types | |
enum | gapState { gapOpen , gapOpening , gapClosed } |
Private Attributes | |
adore::view::ALane * | lfv_ |
adore::view::ALaneChangeView * | lcv_ |
const adore::params::APTacticalPlanner * | ptac_ |
const adore::params::APVehicle * | pveh_ |
const adore::params::APTrajectoryGeneration * | pgen_ |
double | s_front_t0_ |
double | v_front_t0_ |
double | s_lead_t0_ |
double | v_lead_t0_ |
double | s_chase_t0_ |
double | v_chase_t0_ |
double | t0_ |
double | s_ |
Constraints and references to change lanes into a gap defined by s-coordinate
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getLB returns the lower bound for the offset's der's derivative in dimension dim
Implements adore::fun::ANominalPlannerInformation.
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getReferenceIfAvailable returns true if the reference for the dimension and derivative is available and then writes the reference into ref
Implements adore::fun::ANominalPlannerInformation.
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getUB returns the upper bound for the offset's der's derivative in dimension dim
Implements adore::fun::ANominalPlannerInformation.
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update update all constraints and references
Implements adore::fun::ANominalPlannerInformation.
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s-coordinate to specify the gap
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chase constraint position at t0
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front constraint position at t0
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lead constraint position at t0
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last update time
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chase constraint velocity at t0
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front constraint velocity at t0
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lead constraint velocity at t0