adore::params::APLateralPlanner Class Reference

abstract class containing parameters related to configuring the lateral planner More...

#include <ap_lateral_planner.h>

Inheritance diagram for adore::params::APLateralPlanner:

Collaboration diagram for adore::params::APLateralPlanner:

Public Member Functions
virtual double	getWeightPos () const =0
	getWeightPos returns cost function weight for quadratic position error term More...
virtual double	getWeightVel () const =0
	getWeightVel returns cost function weight for quadratic velocity error term More...
virtual double	getWeightAcc () const =0
	getWeightAcc returns cost function weight for quadratic acceleration term More...
virtual double	getWeightJerk () const =0
	getWeightJerk returns cost function weight for quadratic jerk term More...
virtual double	getWeightEndPos () const =0
	getWeightEndPos returns cost function weight for quadratic position error term at end point More...
virtual double	getWeightEndVel () const =0
	getWeightEndVel returns cost function weight for quadratic velocity error term at end point More...
virtual double	getWeightEndAcc () const =0
	getWeightEndAcc returns cost function weight for quadratic acceleration term at end point More...
virtual double	getSlackPos () const =0
	getSlackPos returns maximum slack of soft-constraints for position More...
virtual double	getSlackVel () const =0
	getSlackVel returns maximum slack of soft-constraints for velocity More...
virtual double	getSlackAcc () const =0
	getSlackAcc returns maximum slack of soft-constraints for acceleration More...
virtual double	getAccLB () const =0
	getAccLB returns lateral acceleration lower bound More...
virtual double	getAccUB () const =0
	getAccUB returns lateral acceleration upper bound More...
virtual double	getJerkLB () const =0
	getJerkLB returns lateral jerk lower bound More...
virtual double	getJerkUB () const =0
	getJerkLB returns lateral jerk upper bound More...
virtual double	getCurvatureUB () const =0
	getCurvatureUB returns maximum curvature of path (relevant at low speeds) More...
virtual double	getCurvatureLB () const =0
	getCurvatureLB returns minimum curvature of path (relevant at low speeds) More...
virtual double	getRelativeHeadingUB () const =0
	getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system More...
virtual double	getRelativeHeadingLB () const =0
	getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system More...
virtual double	getMergeConstraintDelay () const =0
	getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated More...
virtual double	getHardSafetyDistanceToLaneBoundary () const =0
	getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side More...
virtual double	getSoftSafetyDistanceToLaneBoundary () const =0
	getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side, which is enforced, if sufficient space is available More...
virtual double	getMinimumLateralControlSpace () const =0
	getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more space for lateral control, softSafetyDistanceToLaneBoundary is enforced More...
virtual double	getMaxCPUTime () const =0
	getMaxCPUTime returns the maximum cpu time for one plan computation More...
virtual double	getLateralGridScale () const =0
	getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver variations will plan for offsets {...,-2d,-d,0,d,2d,..} More...

Detailed Description

abstract class containing parameters related to configuring the lateral planner

Member Function Documentation

getAccLB()

virtual double adore::params::APLateralPlanner::getAccLB ( ) const

pure virtual

getAccLB returns lateral acceleration lower bound

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getAccUB()

virtual double adore::params::APLateralPlanner::getAccUB ( ) const

pure virtual

getAccUB returns lateral acceleration upper bound

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getCurvatureLB()

virtual double adore::params::APLateralPlanner::getCurvatureLB ( ) const

pure virtual

getCurvatureLB returns minimum curvature of path (relevant at low speeds)

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getCurvatureUB()

virtual double adore::params::APLateralPlanner::getCurvatureUB ( ) const

pure virtual

getCurvatureUB returns maximum curvature of path (relevant at low speeds)

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getHardSafetyDistanceToLaneBoundary()

virtual double adore::params::APLateralPlanner::getHardSafetyDistanceToLaneBoundary ( ) const

pure virtual

getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side

Implemented in adore::if_ROS::params::PLateralPlanner.

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getJerkLB()

virtual double adore::params::APLateralPlanner::getJerkLB ( ) const

pure virtual

getJerkLB returns lateral jerk lower bound

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

getJerkUB()

virtual double adore::params::APLateralPlanner::getJerkUB ( ) const

pure virtual

getJerkLB returns lateral jerk upper bound

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

getLateralGridScale()

virtual double adore::params::APLateralPlanner::getLateralGridScale ( ) const

pure virtual

getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver variations will plan for offsets {...,-2d,-d,0,d,2d,..}

Implemented in adore::if_ROS::params::PLateralPlanner.

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getMaxCPUTime()

virtual double adore::params::APLateralPlanner::getMaxCPUTime ( ) const

pure virtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

getMergeConstraintDelay()

virtual double adore::params::APLateralPlanner::getMergeConstraintDelay ( ) const

pure virtual

getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getMinimumLateralControlSpace()

virtual double adore::params::APLateralPlanner::getMinimumLateralControlSpace ( ) const

pure virtual

getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more space for lateral control, softSafetyDistanceToLaneBoundary is enforced

Implemented in adore::if_ROS::params::PLateralPlanner.

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getRelativeHeadingLB()

virtual double adore::params::APLateralPlanner::getRelativeHeadingLB ( ) const

pure virtual

getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getRelativeHeadingUB()

virtual double adore::params::APLateralPlanner::getRelativeHeadingUB ( ) const

pure virtual

getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getSlackAcc()

virtual double adore::params::APLateralPlanner::getSlackAcc ( ) const

pure virtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getSlackPos()

virtual double adore::params::APLateralPlanner::getSlackPos ( ) const

pure virtual

getSlackPos returns maximum slack of soft-constraints for position

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getSlackVel()

virtual double adore::params::APLateralPlanner::getSlackVel ( ) const

pure virtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getSoftSafetyDistanceToLaneBoundary()

virtual double adore::params::APLateralPlanner::getSoftSafetyDistanceToLaneBoundary ( ) const

pure virtual

getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side, which is enforced, if sufficient space is available

Implemented in adore::if_ROS::params::PLateralPlanner.

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getWeightAcc()

virtual double adore::params::APLateralPlanner::getWeightAcc ( ) const

pure virtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightEndAcc()

virtual double adore::params::APLateralPlanner::getWeightEndAcc ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightEndPos()

virtual double adore::params::APLateralPlanner::getWeightEndPos ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightEndVel()

virtual double adore::params::APLateralPlanner::getWeightEndVel ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightJerk()

virtual double adore::params::APLateralPlanner::getWeightJerk ( ) const

pure virtual

getWeightJerk returns cost function weight for quadratic jerk term

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightPos()

virtual double adore::params::APLateralPlanner::getWeightPos ( ) const

pure virtual

getWeightPos returns cost function weight for quadratic position error term

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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getWeightVel()

virtual double adore::params::APLateralPlanner::getWeightVel ( ) const

pure virtual

getWeightVel returns cost function weight for quadratic velocity error term

Implemented in adore::if_ROS::params::PLateralPlanner, and adore::params::APLateralPlannerDummy.

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

• /home/fascar/temp/adore/libadore/libadore/adore/params/include/adore/params/ap_lateral_planner.h