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

#include <lanechangeconstraintsandreferences.h>

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

Public Member Functions

 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::ALanelfv_
 
adore::view::ALaneChangeViewlcv_
 
const adore::params::APTacticalPlannerptac_
 
const adore::params::APVehiclepveh_
 
const adore::params::APTrajectoryGenerationpgen_
 
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_
 

Detailed Description

Constraints and references to change lanes into a gap defined by s-coordinate

Member Enumeration Documentation

◆ gapState

Enumerator
gapOpen 
gapOpening 
gapClosed 

Constructor & Destructor Documentation

◆ StdGapConstraintAndReference()

adore::fun::StdGapConstraintAndReference::StdGapConstraintAndReference ( adore::view::ALane lfv,
adore::view::ALaneChangeView lcv,
const adore::params::APVehicle pveh,
const adore::params::APTacticalPlanner ptac,
const adore::params::APTrajectoryGeneration pgen 
)
inline

Member Function Documentation

◆ getChaseBound()

double adore::fun::StdGapConstraintAndReference::getChaseBound ( double  t) const
inline
Here is the caller graph for this function:

◆ getFrontBound()

double adore::fun::StdGapConstraintAndReference::getFrontBound ( double  t) const
inline
Here is the caller graph for this function:

◆ getGapCoordinate()

double adore::fun::StdGapConstraintAndReference::getGapCoordinate ( ) const
inline

◆ getGapState()

gapState adore::fun::StdGapConstraintAndReference::getGapState ( double  t) const
inline
Here is the call graph for this function:
Here is the caller graph for this function:

◆ getLB()

virtual double adore::fun::StdGapConstraintAndReference::getLB ( int  dim,
int  der,
double  t,
double  s,
double  ds 
) const
inlineoverridevirtual

getLB returns the lower bound for the offset's der's derivative in dimension dim

Implements adore::fun::ANominalPlannerInformation.

Here is the call graph for this function:

◆ getLeadBound()

double adore::fun::StdGapConstraintAndReference::getLeadBound ( double  t) const
inline
Here is the caller graph for this function:

◆ getReferenceIfAvailable()

virtual bool adore::fun::StdGapConstraintAndReference::getReferenceIfAvailable ( int  dim,
int  der,
double  t,
double  s,
double  ds,
double &  ref 
) const
inlineoverridevirtual

getReferenceIfAvailable returns true if the reference for the dimension and derivative is available and then writes the reference into ref

Implements adore::fun::ANominalPlannerInformation.

Here is the call graph for this function:

◆ getUB()

virtual double adore::fun::StdGapConstraintAndReference::getUB ( int  dim,
int  der,
double  t,
double  s,
double  ds 
) const
inlineoverridevirtual

getUB returns the upper bound for the offset's der's derivative in dimension dim

Implements adore::fun::ANominalPlannerInformation.

Here is the call graph for this function:

◆ setGapCoordinate()

void adore::fun::StdGapConstraintAndReference::setGapCoordinate ( double  s)
inline

◆ update()

virtual void adore::fun::StdGapConstraintAndReference::update ( double  t0,
double  s0,
double  ds0 
)
inlineoverridevirtual

update update all constraints and references

Implements adore::fun::ANominalPlannerInformation.

Here is the call graph for this function:

Member Data Documentation

◆ lcv_

adore::view::ALaneChangeView* adore::fun::StdGapConstraintAndReference::lcv_
private

◆ lfv_

adore::view::ALane* adore::fun::StdGapConstraintAndReference::lfv_
private

◆ pgen_

const adore::params::APTrajectoryGeneration* adore::fun::StdGapConstraintAndReference::pgen_
private

◆ ptac_

const adore::params::APTacticalPlanner* adore::fun::StdGapConstraintAndReference::ptac_
private

◆ pveh_

const adore::params::APVehicle* adore::fun::StdGapConstraintAndReference::pveh_
private

◆ s_

double adore::fun::StdGapConstraintAndReference::s_
private

s-coordinate to specify the gap

◆ s_chase_t0_

double adore::fun::StdGapConstraintAndReference::s_chase_t0_
private

chase constraint position at t0

◆ s_front_t0_

double adore::fun::StdGapConstraintAndReference::s_front_t0_
private

front constraint position at t0

◆ s_lead_t0_

double adore::fun::StdGapConstraintAndReference::s_lead_t0_
private

lead constraint position at t0

◆ t0_

double adore::fun::StdGapConstraintAndReference::t0_
private

last update time

◆ v_chase_t0_

double adore::fun::StdGapConstraintAndReference::v_chase_t0_
private

chase constraint velocity at t0

◆ v_front_t0_

double adore::fun::StdGapConstraintAndReference::v_front_t0_
private

front constraint velocity at t0

◆ v_lead_t0_

double adore::fun::StdGapConstraintAndReference::v_lead_t0_
private

lead constraint velocity at t0


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