#include <p_longitudinal_planner.h>

Inheritance diagram for adore::if_ROS::params::PLongitudinalPlanner:

Collaboration diagram for adore::if_ROS::params::PLongitudinalPlanner:

Public Member Functions
	PLongitudinalPlanner (ros::NodeHandle n, std::string prefix)

virtual double	getWeightPos () const override
	getWeightPos returns cost function weight for quadratic position error term More...

virtual double	getWeightVel () const override
	getWeightVel returns cost function weight for quadratic velocity error term More...

virtual double	getWeightAcc () const override
	getWeightAcc returns cost function weight for quadratic acceleration term More...

virtual double	getWeightJerk () const override
	getWeightJerk returns cost function weight for quadratic jerk term More...

virtual double	getWeightEndPos () const override
	getWeightEndPos returns cost function weight for quadratic position error term at end point More...

virtual double	getWeightEndVel () const override
	getWeightEndVel returns cost function weight for quadratic velocity error term at end point More...

virtual double	getWeightEndAcc () const override
	getWeightEndAcc returns cost function weight for quadratic acceleration term at end point More...

virtual double	getSlackPos () const override
	getSlackPos returns maximum slack of soft-constraints for position More...

virtual double	getSlackVel () const override
	getSlackVel returns maximum slack of soft-constraints for velocity More...

virtual double	getSlackAcc () const override
	getSlackAcc returns maximum slack of soft-constraints for acceleration More...

virtual double	getAccLB () const override
	getAccLB returns longitudinal acceleration lower bound More...

virtual double	getAccUB () const override
	getAccUB returns longitudinal acceleration upper bound More...

virtual double	getAccUBSlow () const override
	getAccUBSlow returns acceleration upper bound at low speeds More...

virtual double	getVAccUBSlow () const override
	getVAccUBSlow returns speed up to which slow speed acceleration is used More...

virtual double	getComfortAccLB () const override
	getAccLB returns longitudinal acceleration lower bound More...

virtual double	getComfortAccUB () const override
	getAccUB returns longitudinal acceleration upper bound More...

virtual double	getJerkLB () const override
	getJerkLB returns longitudinal jerk lower bound More...

virtual double	getJerkUB () const override
	getJerkLB returns longitudinal jerk upper bound More...

virtual double	getAccLatUB () const override
	getAccLatUB returns the absolute lateral acceleration bound which has to be maintained by reducing speed More...

virtual double	getAccLatUB_minVelocity () const override
	getAccLatUB_minVelocity returns the minimum velocity, which is always feasible despite getAccLatUB More...

virtual double	getConstraintClearancePos () const override
	getConstraintClearancePos returns the longitudinal offset of the reference from the position constraints More...

virtual double	getConstraintClearanceVel () const override
	getConstraintClearanceVel returns the offset of the reference from the velocity constraints More...

virtual double	getMinWidthStop () const override
	getMinWidthStop returns the minimum lane width, below/at which vehicle stops: Should be greater or equal to ap_vehicle::bodyWidth + 2*ap_lateral_planner_::HardSafetyDistanceToLaneBoundary More...

virtual double	getMinWidthSlow () const override
	getMinWidthSlow returns the minimum lane width, below/at which vehicle moves slowly: Should be greater or queal to minWidthStop More...

virtual double	getMinWidthSlowSpeed () const override
	getMinWidthSlowSpeed returns the slow speed to be applied, if lane width equals minWidthSlow: Should be greater than 0 More...

virtual double	getMinWidthFast () const override
	getMinWidthFast returns the minimum lane width, below/at which vehicle moves fast: Should be greater or queal to minWidthSlow More...

virtual double	getMinWidthFastSpeed () const override
	getMinWidthFastSpeed returns the fast speed to be applied, if lane width equals minWidthFast: Should be greater than minWidthSlowSpeed More...

virtual double	getMaxCPUTime () const override
	getMaxCPUTime returns the maximum cpu time for one plan computation More...

virtual bool	stopAtRedLights_always_before () const override
	determin stop mode for red lights: true - always before red light, continue driving after; false - based on deceleration curve More...

virtual double	stopAtRedLights_max_connection_length () const override
	stopAtRedLights_max_connection_length returns the maximum length for which clearance based on tcd state is considered - after maximum length, vehicle continues. More...

virtual double	getStopDistanceToConflictPoint () const override
	distance between stop position and conflict point More...

Additional Inherited Members
Private Member Functions inherited from adore::if_ROS::ROSParam
template<typename T >
void	get (const std::string &name, T &result) const

	ROSParam (ros::NodeHandle n, std::string prefix)

Private Attributes inherited from adore::if_ROS::ROSParam
std::string	prefix_

ros::NodeHandle	n_

Constructor & Destructor Documentation

◆ PLongitudinalPlanner()

adore::if_ROS::params::PLongitudinalPlanner::PLongitudinalPlanner	(	ros::NodeHandle	n,
		std::string	prefix
	)

inline

Member Function Documentation

◆ getAccLatUB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getAccLatUB ( ) const

inlineoverridevirtual

getAccLatUB returns the absolute lateral acceleration bound which has to be maintained by reducing speed

Implements adore::params::APLongitudinalPlanner.

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◆ getAccLatUB_minVelocity()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getAccLatUB_minVelocity ( ) const

inlineoverridevirtual

getAccLatUB_minVelocity returns the minimum velocity, which is always feasible despite getAccLatUB

Implements adore::params::APLongitudinalPlanner.

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◆ getAccLB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getAccLB ( ) const

inlineoverridevirtual

getAccLB returns longitudinal acceleration lower bound

Implements adore::params::APLongitudinalPlanner.

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◆ getAccUB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getAccUB ( ) const

inlineoverridevirtual

getAccUB returns longitudinal acceleration upper bound

Implements adore::params::APLongitudinalPlanner.

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◆ getAccUBSlow()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getAccUBSlow ( ) const

inlineoverridevirtual

getAccUBSlow returns acceleration upper bound at low speeds

Implements adore::params::APLongitudinalPlanner.

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◆ getComfortAccLB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getComfortAccLB ( ) const

inlineoverridevirtual

getAccLB returns longitudinal acceleration lower bound

Implements adore::params::APLongitudinalPlanner.

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◆ getComfortAccUB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getComfortAccUB ( ) const

inlineoverridevirtual

getAccUB returns longitudinal acceleration upper bound

Implements adore::params::APLongitudinalPlanner.

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◆ getConstraintClearancePos()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getConstraintClearancePos ( ) const

inlineoverridevirtual

getConstraintClearancePos returns the longitudinal offset of the reference from the position constraints

Implements adore::params::APLongitudinalPlanner.

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◆ getConstraintClearanceVel()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getConstraintClearanceVel ( ) const

inlineoverridevirtual

getConstraintClearanceVel returns the offset of the reference from the velocity constraints

Implements adore::params::APLongitudinalPlanner.

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◆ getJerkLB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getJerkLB ( ) const

inlineoverridevirtual

getJerkLB returns longitudinal jerk lower bound

Implements adore::params::APLongitudinalPlanner.

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◆ getJerkUB()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getJerkUB ( ) const

inlineoverridevirtual

getJerkLB returns longitudinal jerk upper bound

Implements adore::params::APLongitudinalPlanner.

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◆ getMaxCPUTime()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMaxCPUTime ( ) const

inlineoverridevirtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implements adore::params::APLongitudinalPlanner.

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◆ getMinWidthFast()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMinWidthFast ( ) const

inlineoverridevirtual

getMinWidthFast returns the minimum lane width, below/at which vehicle moves fast: Should be greater or queal to minWidthSlow

Implements adore::params::APLongitudinalPlanner.

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◆ getMinWidthFastSpeed()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMinWidthFastSpeed ( ) const

inlineoverridevirtual

getMinWidthFastSpeed returns the fast speed to be applied, if lane width equals minWidthFast: Should be greater than minWidthSlowSpeed

Implements adore::params::APLongitudinalPlanner.

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◆ getMinWidthSlow()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMinWidthSlow ( ) const

inlineoverridevirtual

getMinWidthSlow returns the minimum lane width, below/at which vehicle moves slowly: Should be greater or queal to minWidthStop

Implements adore::params::APLongitudinalPlanner.

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◆ getMinWidthSlowSpeed()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMinWidthSlowSpeed ( ) const

inlineoverridevirtual

getMinWidthSlowSpeed returns the slow speed to be applied, if lane width equals minWidthSlow: Should be greater than 0

Implements adore::params::APLongitudinalPlanner.

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◆ getMinWidthStop()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getMinWidthStop ( ) const

inlineoverridevirtual

getMinWidthStop returns the minimum lane width, below/at which vehicle stops: Should be greater or equal to ap_vehicle::bodyWidth + 2*ap_lateral_planner_::HardSafetyDistanceToLaneBoundary

Implements adore::params::APLongitudinalPlanner.

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◆ getSlackAcc()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getSlackAcc ( ) const

inlineoverridevirtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implements adore::params::APLongitudinalPlanner.

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◆ getSlackPos()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getSlackPos ( ) const

inlineoverridevirtual

getSlackPos returns maximum slack of soft-constraints for position

Implements adore::params::APLongitudinalPlanner.

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◆ getSlackVel()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getSlackVel ( ) const

inlineoverridevirtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implements adore::params::APLongitudinalPlanner.

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◆ getStopDistanceToConflictPoint()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getStopDistanceToConflictPoint ( ) const

inlineoverridevirtual

distance between stop position and conflict point

Implements adore::params::APLongitudinalPlanner.

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◆ getVAccUBSlow()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getVAccUBSlow ( ) const

inlineoverridevirtual

getVAccUBSlow returns speed up to which slow speed acceleration is used

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightAcc()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightAcc ( ) const

inlineoverridevirtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightEndAcc()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightEndAcc ( ) const

inlineoverridevirtual

getWeightEndAcc returns cost function weight for quadratic acceleration term at end point

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightEndPos()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightEndPos ( ) const

inlineoverridevirtual

getWeightEndPos returns cost function weight for quadratic position error term at end point

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightEndVel()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightEndVel ( ) const

inlineoverridevirtual

getWeightEndVel returns cost function weight for quadratic velocity error term at end point

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightJerk()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightJerk ( ) const

inlineoverridevirtual

getWeightJerk returns cost function weight for quadratic jerk term

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightPos()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightPos ( ) const

inlineoverridevirtual

getWeightPos returns cost function weight for quadratic position error term

Implements adore::params::APLongitudinalPlanner.

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◆ getWeightVel()

virtual double adore::if_ROS::params::PLongitudinalPlanner::getWeightVel ( ) const

inlineoverridevirtual

getWeightVel returns cost function weight for quadratic velocity error term

Implements adore::params::APLongitudinalPlanner.

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◆ stopAtRedLights_always_before()

virtual bool adore::if_ROS::params::PLongitudinalPlanner::stopAtRedLights_always_before ( ) const

inlineoverridevirtual

determin stop mode for red lights: true - always before red light, continue driving after; false - based on deceleration curve

Implements adore::params::APLongitudinalPlanner.

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◆ stopAtRedLights_max_connection_length()

virtual double adore::if_ROS::params::PLongitudinalPlanner::stopAtRedLights_max_connection_length ( ) const

inlineoverridevirtual

stopAtRedLights_max_connection_length returns the maximum length for which clearance based on tcd state is considered - after maximum length, vehicle continues.

Implements adore::params::APLongitudinalPlanner.

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

/home/fascar/temp/adore/adore_if_ros/adore_if_ros/include/adore_if_ros/params_factory/p_longitudinal_planner.h

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ PLongitudinalPlanner()

Member Function Documentation

◆ getAccLatUB()

◆ getAccLatUB_minVelocity()

◆ getAccLB()

◆ getAccUB()

◆ getAccUBSlow()

◆ getComfortAccLB()

◆ getComfortAccUB()

◆ getConstraintClearancePos()

◆ getConstraintClearanceVel()

◆ getJerkLB()

◆ getJerkUB()

◆ getMaxCPUTime()

◆ getMinWidthFast()

◆ getMinWidthFastSpeed()

◆ getMinWidthSlow()

◆ getMinWidthSlowSpeed()

◆ getMinWidthStop()

◆ getSlackAcc()

◆ getSlackPos()

◆ getSlackVel()

◆ getStopDistanceToConflictPoint()

◆ getVAccUBSlow()

◆ getWeightAcc()

◆ getWeightEndAcc()

◆ getWeightEndPos()

◆ getWeightEndVel()

◆ getWeightJerk()

◆ getWeightPos()

◆ getWeightVel()

◆ stopAtRedLights_always_before()

◆ stopAtRedLights_max_connection_length()