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

a dummy implementation for testing purposes More...

#include <ap_lateral_planner_dummy.h>

Inheritance diagram for adore::params::APLateralPlannerDummy:
Inheritance graph
Collaboration diagram for adore::params::APLateralPlannerDummy:
Collaboration graph

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...
 

Detailed Description

a dummy implementation for testing purposes

Member Function Documentation

◆ getAccLB()

virtual double adore::params::APLateralPlannerDummy::getAccLB ( ) const
inlinevirtual

getAccLB returns lateral acceleration lower bound

Implements adore::params::APLateralPlanner.

◆ getAccUB()

virtual double adore::params::APLateralPlannerDummy::getAccUB ( ) const
inlinevirtual

getAccUB returns lateral acceleration upper bound

Implements adore::params::APLateralPlanner.

◆ getCurvatureLB()

virtual double adore::params::APLateralPlannerDummy::getCurvatureLB ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getCurvatureUB()

virtual double adore::params::APLateralPlannerDummy::getCurvatureUB ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getJerkLB()

virtual double adore::params::APLateralPlannerDummy::getJerkLB ( ) const
inlinevirtual

getJerkLB returns lateral jerk lower bound

Implements adore::params::APLateralPlanner.

◆ getJerkUB()

virtual double adore::params::APLateralPlannerDummy::getJerkUB ( ) const
inlinevirtual

getJerkLB returns lateral jerk upper bound

Implements adore::params::APLateralPlanner.

◆ getMaxCPUTime()

virtual double adore::params::APLateralPlannerDummy::getMaxCPUTime ( ) const
inlinevirtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implements adore::params::APLateralPlanner.

◆ getMergeConstraintDelay()

virtual double adore::params::APLateralPlannerDummy::getMergeConstraintDelay ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getRelativeHeadingLB()

virtual double adore::params::APLateralPlannerDummy::getRelativeHeadingLB ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getRelativeHeadingUB()

virtual double adore::params::APLateralPlannerDummy::getRelativeHeadingUB ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getSlackAcc()

virtual double adore::params::APLateralPlannerDummy::getSlackAcc ( ) const
inlinevirtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implements adore::params::APLateralPlanner.

◆ getSlackPos()

virtual double adore::params::APLateralPlannerDummy::getSlackPos ( ) const
inlinevirtual

getSlackPos returns maximum slack of soft-constraints for position

Implements adore::params::APLateralPlanner.

◆ getSlackVel()

virtual double adore::params::APLateralPlannerDummy::getSlackVel ( ) const
inlinevirtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implements adore::params::APLateralPlanner.

◆ getWeightAcc()

virtual double adore::params::APLateralPlannerDummy::getWeightAcc ( ) const
inlinevirtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implements adore::params::APLateralPlanner.

◆ getWeightEndAcc()

virtual double adore::params::APLateralPlannerDummy::getWeightEndAcc ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getWeightEndPos()

virtual double adore::params::APLateralPlannerDummy::getWeightEndPos ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getWeightEndVel()

virtual double adore::params::APLateralPlannerDummy::getWeightEndVel ( ) const
inlinevirtual

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

Implements adore::params::APLateralPlanner.

◆ getWeightJerk()

virtual double adore::params::APLateralPlannerDummy::getWeightJerk ( ) const
inlinevirtual

getWeightJerk returns cost function weight for quadratic jerk term

Implements adore::params::APLateralPlanner.

◆ getWeightPos()

virtual double adore::params::APLateralPlannerDummy::getWeightPos ( ) const
inlinevirtual

getWeightPos returns cost function weight for quadratic position error term

Implements adore::params::APLateralPlanner.

◆ getWeightVel()

virtual double adore::params::APLateralPlannerDummy::getWeightVel ( ) const
inlinevirtual

getWeightVel returns cost function weight for quadratic velocity error term

Implements adore::params::APLateralPlanner.


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