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

#include <ap_longitudinal_planner.h>

Inheritance diagram for adore::params::APLongitudinalPlanner:

Collaboration diagram for adore::params::APLongitudinalPlanner:

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 longitudinal acceleration lower bound More...

virtual double	getAccUB () const =0
	getAccUB returns longitudinal acceleration upper bound More...

virtual double	getAccUBSlow () const =0
	getAccUBSlow returns acceleration upper bound at low speeds More...

virtual double	getVAccUBSlow () const =0
	getVAccUBSlow returns speed up to which slow speed acceleration is used More...

virtual double	getComfortAccLB () const =0
	getAccLB returns longitudinal acceleration lower bound More...

virtual double	getComfortAccUB () const =0
	getAccUB returns longitudinal acceleration upper bound More...

virtual double	getJerkLB () const =0
	getJerkLB returns longitudinal jerk lower bound More...

virtual double	getJerkUB () const =0
	getJerkLB returns longitudinal jerk upper bound More...

virtual double	getAccLatUB () const =0
	getAccLatUB returns the absolute lateral acceleration bound which has to be maintained by reducing speed More...

virtual double	getAccLatUB_minVelocity () const =0
	getAccLatUB_minVelocity returns the minimum velocity, which is always feasible despite getAccLatUB More...

virtual double	getConstraintClearancePos () const =0
	getConstraintClearancePos returns the longitudinal offset of the reference from the position constraints More...

virtual double	getConstraintClearanceVel () const =0
	getConstraintClearanceVel returns the offset of the reference from the velocity constraints More...

virtual double	getMinWidthStop () const =0
	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 =0
	getMinWidthSlow returns the minimum lane width, below/at which vehicle moves slowly: Should be greater or queal to minWidthStop More...

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

virtual double	getMinWidthFast () const =0
	getMinWidthFast returns the minimum lane width, below/at which vehicle moves fast: Should be greater or queal to minWidthSlow More...

virtual double	getMinWidthFastSpeed () const =0
	getMinWidthFastSpeed returns the fast speed to be applied, if lane width equals minWidthFast: Should be greater than minWidthSlowSpeed More...

virtual double	getMaxCPUTime () const =0
	getMaxCPUTime returns the maximum cpu time for one plan computation More...

virtual bool	stopAtRedLights_always_before () const =0
	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 =0
	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 =0
	distance between stop position and conflict point More...

Detailed Description

abstract class containing parameters related to configuring the longitudinal planner

Member Function Documentation

◆ getAccLatUB()

virtual double adore::params::APLongitudinalPlanner::getAccLatUB ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getAccLatUB_minVelocity()

virtual double adore::params::APLongitudinalPlanner::getAccLatUB_minVelocity ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getAccLB()

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

pure virtual

getAccLB returns longitudinal acceleration lower bound

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getAccUB()

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

pure virtual

getAccUB returns longitudinal acceleration upper bound

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getAccUBSlow()

virtual double adore::params::APLongitudinalPlanner::getAccUBSlow ( ) const

pure virtual

getAccUBSlow returns acceleration upper bound at low speeds

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getComfortAccLB()

virtual double adore::params::APLongitudinalPlanner::getComfortAccLB ( ) const

pure virtual

getAccLB returns longitudinal acceleration lower bound

Implemented in adore::params::APLongitudinalPlannerDummy, and adore::if_ROS::params::PLongitudinalPlanner.

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◆ getComfortAccUB()

virtual double adore::params::APLongitudinalPlanner::getComfortAccUB ( ) const

pure virtual

getAccUB returns longitudinal acceleration upper bound

Implemented in adore::params::APLongitudinalPlannerDummy, and adore::if_ROS::params::PLongitudinalPlanner.

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◆ getConstraintClearancePos()

virtual double adore::params::APLongitudinalPlanner::getConstraintClearancePos ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

◆ getConstraintClearanceVel()

virtual double adore::params::APLongitudinalPlanner::getConstraintClearanceVel ( ) const

pure virtual

getConstraintClearanceVel returns the offset of the reference from the velocity constraints

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getJerkLB()

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

pure virtual

getJerkLB returns longitudinal jerk lower bound

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

◆ getJerkUB()

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

pure virtual

getJerkLB returns longitudinal jerk upper bound

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

◆ getMaxCPUTime()

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

pure virtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

◆ getMinWidthFast()

virtual double adore::params::APLongitudinalPlanner::getMinWidthFast ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getMinWidthFastSpeed()

virtual double adore::params::APLongitudinalPlanner::getMinWidthFastSpeed ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getMinWidthSlow()

virtual double adore::params::APLongitudinalPlanner::getMinWidthSlow ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getMinWidthSlowSpeed()

virtual double adore::params::APLongitudinalPlanner::getMinWidthSlowSpeed ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getMinWidthStop()

virtual double adore::params::APLongitudinalPlanner::getMinWidthStop ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getSlackAcc()

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

pure virtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getSlackPos()

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

pure virtual

getSlackPos returns maximum slack of soft-constraints for position

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getSlackVel()

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

pure virtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getStopDistanceToConflictPoint()

virtual double adore::params::APLongitudinalPlanner::getStopDistanceToConflictPoint ( ) const

pure virtual

distance between stop position and conflict point

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getVAccUBSlow()

virtual double adore::params::APLongitudinalPlanner::getVAccUBSlow ( ) const

pure virtual

getVAccUBSlow returns speed up to which slow speed acceleration is used

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ getWeightAcc()

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

pure virtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightEndAcc()

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

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightEndPos()

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

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightEndVel()

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

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightJerk()

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

pure virtual

getWeightJerk returns cost function weight for quadratic jerk term

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightPos()

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

pure virtual

getWeightPos returns cost function weight for quadratic position error term

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ getWeightVel()

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

pure virtual

getWeightVel returns cost function weight for quadratic velocity error term

Implemented in adore::if_ROS::params::PLongitudinalPlanner, and adore::params::APLongitudinalPlannerDummy.

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◆ stopAtRedLights_always_before()

virtual bool adore::params::APLongitudinalPlanner::stopAtRedLights_always_before ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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◆ stopAtRedLights_max_connection_length()

virtual double adore::params::APLongitudinalPlanner::stopAtRedLights_max_connection_length ( ) const

pure virtual

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

Implemented in adore::if_ROS::params::PLongitudinalPlanner.

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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_longitudinal_planner.h

Public Member Functions

Detailed Description

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()