a dummy implementation for testing purposes More...
#include <ap_lateral_planner_dummy.h>
Public Member Functions | |
virtual double | getWeightPos () const |
getWeightPos returns cost function weight for quadratic position error term More... | |
virtual double | getWeightVel () const |
getWeightVel returns cost function weight for quadratic velocity error term More... | |
virtual double | getWeightAcc () const |
getWeightAcc returns cost function weight for quadratic acceleration term More... | |
virtual double | getWeightJerk () const |
getWeightJerk returns cost function weight for quadratic jerk term More... | |
virtual double | getWeightEndPos () const |
getWeightEndPos returns cost function weight for quadratic position error term at end point More... | |
virtual double | getWeightEndVel () const |
getWeightEndVel returns cost function weight for quadratic velocity error term at end point More... | |
virtual double | getWeightEndAcc () const |
getWeightEndAcc returns cost function weight for quadratic acceleration term at end point More... | |
virtual double | getSlackPos () const |
getSlackPos returns maximum slack of soft-constraints for position More... | |
virtual double | getSlackVel () const |
getSlackVel returns maximum slack of soft-constraints for velocity More... | |
virtual double | getSlackAcc () const |
getSlackAcc returns maximum slack of soft-constraints for acceleration More... | |
virtual double | getAccLB () const |
getAccLB returns lateral acceleration lower bound More... | |
virtual double | getAccUB () const |
getAccUB returns lateral acceleration upper bound More... | |
virtual double | getJerkLB () const |
getJerkLB returns lateral jerk lower bound More... | |
virtual double | getJerkUB () const |
getJerkLB returns lateral jerk upper bound More... | |
virtual double | getCurvatureUB () const |
getCurvatureUB returns maximum curvature of path (relevant at low speeds) More... | |
virtual double | getCurvatureLB () const |
getCurvatureLB returns minimum curvature of path (relevant at low speeds) More... | |
virtual double | getRelativeHeadingUB () const |
getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system More... | |
virtual double | getRelativeHeadingLB () const |
getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system More... | |
virtual double | getMergeConstraintDelay () const |
getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated More... | |
virtual double | getMaxCPUTime () const |
getMaxCPUTime returns the maximum cpu time for one plan computation More... | |
Public Member Functions inherited from adore::params::APLateralPlanner | |
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 | 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... | |
a dummy implementation for testing purposes
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inlinevirtual |
getAccLB returns lateral acceleration lower bound
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getAccUB returns lateral acceleration upper bound
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getCurvatureLB returns minimum curvature of path (relevant at low speeds)
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getCurvatureUB returns maximum curvature of path (relevant at low speeds)
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getJerkLB returns lateral jerk lower bound
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getJerkLB returns lateral jerk upper bound
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getMaxCPUTime returns the maximum cpu time for one plan computation
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getSlackAcc returns maximum slack of soft-constraints for acceleration
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getSlackPos returns maximum slack of soft-constraints for position
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getSlackVel returns maximum slack of soft-constraints for velocity
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightAcc returns cost function weight for quadratic acceleration term
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightEndAcc returns cost function weight for quadratic acceleration term at end point
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightEndPos returns cost function weight for quadratic position error term at end point
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightEndVel returns cost function weight for quadratic velocity error term at end point
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightJerk returns cost function weight for quadratic jerk term
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightPos returns cost function weight for quadratic position error term
Implements adore::params::APLateralPlanner.
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inlinevirtual |
getWeightVel returns cost function weight for quadratic velocity error term
Implements adore::params::APLateralPlanner.