adore::view::ALane Class Reference

#include <alane.h>

Inheritance diagram for adore::view::ALane:

Collaboration diagram for adore::view::ALane:

Public Member Functions
virtual bool	isValid () const =0
virtual double	getSMax () const =0
virtual double	getSMin () const =0
bool	inSRange (double s) const
virtual double	getProgressOfWidthOpen () const =0
virtual double	getProgressOfWidthClosed () const =0
virtual const TrafficQueue &	getOnLaneTraffic () const =0
virtual const ConflictSet &	getConflictSet () const =0
virtual double	getSpeedLimit (double s)=0
virtual double	getLeftIndicatorHint (double s)=0
virtual double	getRightIndicatorHint (double s)=0
virtual bool	hasSpeedRecommendation (double s) const =0
virtual double	getSpeedRecommendation (double s) const =0
virtual double	getNavigationCost (double s)=0
virtual void	boundNavigationCost (double s0, double s1, double &cmin, double &cmax)=0
virtual double	getHeading (double s)=0
virtual double	getCurvature (double s, int derivative)=0
virtual double	getOffsetOfLeftBorder (double s)=0
virtual double	getOffsetOfRightBorder (double s)=0
virtual void	toRelativeCoordinates (double xe, double ye, double &s, double &n)=0
virtual void	toEucledianCoordinates (double s, double n, double &xe, double &ye, double &ze)=0

Detailed Description

ALane - represents traffic and traffic rules for a lane. ALane uses a coordinate system (s,n), with s progress along the lane and n lateral offset, perpendicular to s.

Member Function Documentation

boundNavigationCost()

virtual void adore::view::ALane::boundNavigationCost ( double  s0, double  s1, double &  cmin, double &  cmax  )

pure virtual

boundNavigationCost - return bounds for navigation-cost on a distance s interval along the lane

Parameters

cmin	the minimum cost on the interval is returned
cmax	the maximum cost on the interval is returned

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getConflictSet()

virtual const ConflictSet& adore::view::ALane::getConflictSet ( ) const

pure virtual

getConflictSet - return set of conflict zones, ordered by occurance along lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

getCurvature()

virtual double adore::view::ALane::getCurvature ( double  s, int  derivative  )

pure virtual

getCurvature - return the lane coordinate system's curvature kappa=1/R and its derivatives 1,2,... at a progress s the derivative is given as 1: d kappa / ds, 2: d^2 kappa / ds^2, ... if a derivative is unavailable, 0 will be returned

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getHeading()

virtual double adore::view::ALane::getHeading ( double  s )

pure virtual

getHeading - return the heading of the lane at a distance s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getLeftIndicatorHint()

virtual double adore::view::ALane::getLeftIndicatorHint ( double  s )

pure virtual

getLeftIndicatorHint - return left indicator light hint at s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

getNavigationCost()

virtual double adore::view::ALane::getNavigationCost ( double  s )

pure virtual

getNavigationCost - return remaining navigation cost at a certain distance s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

getOffsetOfLeftBorder()

virtual double adore::view::ALane::getOffsetOfLeftBorder ( double  s )

pure virtual

getOffsetOfLeftBorder - return the lateral offset of the left border at a progress s

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getOffsetOfRightBorder()

virtual double adore::view::ALane::getOffsetOfRightBorder ( double  s )

pure virtual

getOffsetOfRightBorder - return the lateral offset of the right border at a progress s

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getOnLaneTraffic()

virtual const TrafficQueue& adore::view::ALane::getOnLaneTraffic ( ) const

pure virtual

getOnLaneTraffic - return queue of traffic objects moving on lane, ordered by progress of objects on lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getProgressOfWidthClosed()

virtual double adore::view::ALane::getProgressOfWidthClosed ( ) const

pure virtual

getProgressOfWidthClosed - return progress s, where target lane is no longer wide enough to contain AV

Implemented in adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, adore::env::BorderBased::DependentLane, and adore::env::ThreeLaneViewDecoupled::LaneProxy.

getProgressOfWidthOpen()

virtual double adore::view::ALane::getProgressOfWidthOpen ( ) const

pure virtual

getProgressOfWidthOpen - return progress s, where target lane is wide enough to contain AV for the first time

Implemented in adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, adore::env::BorderBased::DependentLane, and adore::env::ThreeLaneViewDecoupled::LaneProxy.

getRightIndicatorHint()

virtual double adore::view::ALane::getRightIndicatorHint ( double  s )

pure virtual

getRightIndicatorHint - return right indicator light hint at s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

getSMax()

virtual double adore::view::ALane::getSMax ( ) const

pure virtual

Returns

the maximum s parameter of the relative coordinate system

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getSMin()

virtual double adore::view::ALane::getSMin ( ) const

pure virtual

Returns

the minimum s parameter of the relative coordinate system

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getSpeedLimit()

virtual double adore::view::ALane::getSpeedLimit ( double  s )

pure virtual

getSpeedLimit - return the speed limit at a certain distance s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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getSpeedRecommendation()

virtual double adore::view::ALane::getSpeedRecommendation ( double  s ) const

pure virtual

getSpeedRecommendation - return a speed recommendation at a certain distance s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

hasSpeedRecommendation()

virtual bool adore::view::ALane::hasSpeedRecommendation ( double  s ) const

pure virtual

hasSpeedRecommendation - return true, if a speed recommendation is available (GLOSA or other infrastructure advice) at a certain distance s along the lane

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

inSRange()

bool adore::view::ALane::inSRange ( double  s ) const

inline

Returns

true if getSMin()<s && s<getSMax()

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isValid()

virtual bool adore::view::ALane::isValid ( ) const

pure virtual

isValid - return true if representation of lane is valid

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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toEucledianCoordinates()

virtual void adore::view::ALane::toEucledianCoordinates ( double  s, double  n, double &  xe, double &  ye, double &  ze  )

pure virtual

coordinate transformation from road relative coordinates (s,n) to euclidean (xe,ye,ze)

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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toRelativeCoordinates()

virtual void adore::view::ALane::toRelativeCoordinates ( double  xe, double  ye, double &  s, double &  n  )

pure virtual

coordinate transformation from euclidean (xe,ye) to road relative coordinates (s,n)

Implemented in adore::env::ThreeLaneViewDecoupled::LaneProxy, adore::env::BorderBased::LaneFollowingViewProxy, adore::env::BorderBased::LaneFollowingView, and adore::env::BorderBased::DependentLane.

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

• /home/fascar/temp/adore/libadore/libadore/adore/view/include/adore/view/alane.h