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

a dummy implementation for testing purposes More...

#include <ap_longitudinal_planner_dummy.h>

Inheritance diagram for adore::params::APLongitudinalPlannerDummy:
Inheritance graph
Collaboration diagram for adore::params::APLongitudinalPlannerDummy:
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 longitudinal acceleration lower bound More...
 
virtual double getAccUB () const
 getAccUB returns longitudinal acceleration upper bound 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
 getJerkLB returns longitudinal jerk lower bound More...
 
virtual double getJerkUB () const
 getJerkLB returns longitudinal jerk upper bound More...
 
virtual double getAccLatUB () const
 getAccLatUB returns the absolute lateral acceleration bound which has to be maintained by reducing speed More...
 
virtual double getAccLatUB_minVelocity () const
 getAccLatUB_minVelocity returns the minimum velocity, which is always feasible despite getAccLatUB More...
 
virtual double getConstraintClearancePos () const
 getConstraintClearancePos returns the offset of the reference from the position constraints More...
 
virtual double getConstraintClearanceVel () const
 getConstraintClearanceVel returns the offset of the reference from the velocity constraints More...
 
virtual double getMaxCPUTime () const
 getMaxCPUTime returns the maximum cpu time for one plan computation More...
 
virtual double getStopDistanceToConflictPoint () const
 distance between stop position and conflict point More...
 
- Public Member Functions inherited from adore::params::APLongitudinalPlanner
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 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 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...
 

Detailed Description

a dummy implementation for testing purposes

Member Function Documentation

◆ getAccLatUB()

virtual double adore::params::APLongitudinalPlannerDummy::getAccLatUB ( ) const
inlinevirtual

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

Implements adore::params::APLongitudinalPlanner.

◆ getAccLatUB_minVelocity()

virtual double adore::params::APLongitudinalPlannerDummy::getAccLatUB_minVelocity ( ) const
inlinevirtual

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

Implements adore::params::APLongitudinalPlanner.

◆ getAccLB()

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

getAccLB returns longitudinal acceleration lower bound

Implements adore::params::APLongitudinalPlanner.

◆ getAccUB()

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

getAccUB returns longitudinal acceleration upper bound

Implements adore::params::APLongitudinalPlanner.

◆ getComfortAccLB()

virtual double adore::params::APLongitudinalPlannerDummy::getComfortAccLB ( ) const
inlineoverridevirtual

getAccLB returns longitudinal acceleration lower bound

Implements adore::params::APLongitudinalPlanner.

◆ getComfortAccUB()

virtual double adore::params::APLongitudinalPlannerDummy::getComfortAccUB ( ) const
inlineoverridevirtual

getAccUB returns longitudinal acceleration upper bound

Implements adore::params::APLongitudinalPlanner.

◆ getConstraintClearancePos()

virtual double adore::params::APLongitudinalPlannerDummy::getConstraintClearancePos ( ) const
inlinevirtual

getConstraintClearancePos returns the offset of the reference from the position constraints

Implements adore::params::APLongitudinalPlanner.

◆ getConstraintClearanceVel()

virtual double adore::params::APLongitudinalPlannerDummy::getConstraintClearanceVel ( ) const
inlinevirtual

getConstraintClearanceVel returns the offset of the reference from the velocity constraints

Implements adore::params::APLongitudinalPlanner.

◆ getJerkLB()

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

getJerkLB returns longitudinal jerk lower bound

Implements adore::params::APLongitudinalPlanner.

◆ getJerkUB()

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

getJerkLB returns longitudinal jerk upper bound

Implements adore::params::APLongitudinalPlanner.

◆ getMaxCPUTime()

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

getMaxCPUTime returns the maximum cpu time for one plan computation

Implements adore::params::APLongitudinalPlanner.

◆ getSlackAcc()

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

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implements adore::params::APLongitudinalPlanner.

◆ getSlackPos()

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

getSlackPos returns maximum slack of soft-constraints for position

Implements adore::params::APLongitudinalPlanner.

◆ getSlackVel()

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

getSlackVel returns maximum slack of soft-constraints for velocity

Implements adore::params::APLongitudinalPlanner.

◆ getStopDistanceToConflictPoint()

virtual double adore::params::APLongitudinalPlannerDummy::getStopDistanceToConflictPoint ( ) const
inlinevirtual

distance between stop position and conflict point

Implements adore::params::APLongitudinalPlanner.

◆ getWeightAcc()

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

getWeightAcc returns cost function weight for quadratic acceleration term

Implements adore::params::APLongitudinalPlanner.

◆ getWeightEndAcc()

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

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

Implements adore::params::APLongitudinalPlanner.

◆ getWeightEndPos()

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

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

Implements adore::params::APLongitudinalPlanner.

◆ getWeightEndVel()

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

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

Implements adore::params::APLongitudinalPlanner.

◆ getWeightJerk()

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

getWeightJerk returns cost function weight for quadratic jerk term

Implements adore::params::APLongitudinalPlanner.

◆ getWeightPos()

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

getWeightPos returns cost function weight for quadratic position error term

Implements adore::params::APLongitudinalPlanner.

◆ getWeightVel()

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

getWeightVel returns cost function weight for quadratic velocity error term

Implements adore::params::APLongitudinalPlanner.


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