36 std::shared_ptr<LaneGeometryDataProxy>
lane_;
41 s+
lane_->centerSmoothed_fct.limitLo(),
42 lane_->centerSmoothed_fct.limitHi());
57 return lane_->isValid;
65 return lane_->centerSmoothed_fct.limitHi()-
lane_->centerSmoothed_fct.limitLo();
71 return lane_->centerSmoothed_fct.limitLo();
76 return lane_->centerSmoothed_fct.limitHi();
80 throw std::logic_error(
"Not implemented");
87 throw std::logic_error(
"Not implemented");
94 throw std::logic_error(
"Not implemented");
98 virtual double getLeftIndicatorHint(
double s)
override {
throw std::logic_error(
"Not implemented");
return 0.0; }
104 throw std::logic_error(
"Not implemented");
110 throw std::logic_error(
"Not implemented");
119 adoreMatrix<double,1,1>
y0,
y1;
136 return lane_->centerSmoothedCurvature_fct(
limitS(s));
138 else if (derivative <= 1)
140 return lane_->centerSmoothedCurvatureDerivative_fct(
limitS(s));
152 return lane_->leftDistance_fct(
x);
164 s =
lane_->centerSmoothed_fct.getClosestParameter(xe, ye, 1, 2, n);
166 s -=
lane_->centerSmoothed_fct.limitLo();
Definition: conflictset.h:202
Proxy class to access ALane interfaces from preprocessed lane geometry received as data object.
Definition: lanefollowingviewproxy.h:34
double getOffsetOfLeftBorder(double s) override
Definition: lanefollowingviewproxy.h:148
const ConflictSet & getConflictSet() const override
Definition: lanefollowingviewproxy.h:85
virtual void boundNavigationCost(double s0, double s1, double &cmin, double &cmax) override
Definition: lanefollowingviewproxy.h:117
double getProgressOfWidthOpen() const override
Definition: lanefollowingviewproxy.h:68
bool hasSpeedRecommendation(double s) const override
Definition: lanefollowingviewproxy.h:102
virtual double getRightIndicatorHint(double s) override
Definition: lanefollowingviewproxy.h:100
std::shared_ptr< LaneGeometryDataProxy > lane_
Definition: lanefollowingviewproxy.h:36
bool isValid() const override
Definition: lanefollowingviewproxy.h:55
virtual double getLeftIndicatorHint(double s) override
Definition: lanefollowingviewproxy.h:98
LaneFollowingViewProxy(std::shared_ptr< LaneGeometryDataProxy > lane)
Construct a new Lane Following View Proxy object.
Definition: lanefollowingviewproxy.h:51
void toRelativeCoordinates(double xe, double ye, double &s, double &n) override
Definition: lanefollowingviewproxy.h:160
double getNavigationCost(double s) override
Definition: lanefollowingviewproxy.h:113
double getHeading(double s) override
Definition: lanefollowingviewproxy.h:124
virtual double getSMax() const override
Definition: lanefollowingviewproxy.h:63
double getSpeedLimit(double s) override
Definition: lanefollowingviewproxy.h:92
double getCurvature(double s, int derivative) override
Definition: lanefollowingviewproxy.h:132
double getProgressOfWidthClosed() const override
Definition: lanefollowingviewproxy.h:73
double getOffsetOfRightBorder(double s) override
Definition: lanefollowingviewproxy.h:155
double getSpeedRecommendation(double s) const override
Definition: lanefollowingviewproxy.h:108
virtual double getSMin() const override
Definition: lanefollowingviewproxy.h:59
const adore::view::TrafficQueue & getOnLaneTraffic() const override
Definition: lanefollowingviewproxy.h:78
void toEucledianCoordinates(double s, double n, double &xe, double &ye, double &ze) override
Definition: lanefollowingviewproxy.h:169
double limitS(double s)
Definition: lanefollowingviewproxy.h:37
interval< T > atan2(interval< T > y, interval< T > x)
Definition: intervalarithmetic.h:234
T bound(T lb, T value, T ub)
Definition: adoremath.h:569
bool toRelativeWithNormalExtrapolation(double qX, double qY, const T1 pi, const T1 pj, const T2 ni, const T2 nj, double &s, double &t)
Transformation from Euclidean coordinate system to a relative coordinate system represented by linear...
Definition: adoremath.h:321
bool fromRelative(double s, double t, const T1 pi, const T1 pj, const T2 ni, const T2 nj, double &X, double &Y, double &Z)
Transform from relative coordinates to Euclidean coordinates.
Definition: adoremath.h:475
std::vector< TrafficObject > TrafficQueue
Definition: trafficobject.h:183
x
Definition: adore_set_goal.py:30
y0
Definition: adore_set_goal.py:26
y1
Definition: adore_set_pose.py:29
Definition: areaofeffectconverter.h:20