61 :
MRMPlanner<K,P>(lcv->getSourceLane(),plat,pveh,ptrajectory),
73 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationReference_);
74 this->
getOffsetSolver().getInformationSet().add(&lateralJerkReference_);
75 this->
getOffsetSolver().getInformationSet().add(&lateralOffsetConstraint_left_);
76 this->
getOffsetSolver().getInformationSet().add(&lateralOffsetConstraint_right_);
79 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationConstraintUB_);
80 this->
getOffsetSolver().getInformationSet().add(&lateralAccelerationConstraintLB_);
85 this->info_.add(constraint);
90 this->info_.add(reference);
Definition: anominalplanner.h:52
Definition: anominalplanner.h:96
Definition: basicconstraintsandreferences.h:650
Definition: basicconstraintsandreferences.h:409
Definition: basicconstraintsandreferences.h:361
Definition: basicconstraintsandreferences.h:547
Definition: basicconstraintsandreferences.h:575
Definition: lanechangeconstraintsandreferences.h:468
Definition: mrmplanner.h:32
LateralPlanner< K, P > & getOffsetSolver()
Definition: mrmplanner.h:259
Plans minimum risk maneuver to cancel lane change.
Definition: mergemrmplanner.h:35
void addReference(ANominalReference *reference)
Definition: mergemrmplanner.h:88
void addConstraint(ANominalConstraint *constraint)
Definition: mergemrmplanner.h:83
MergeMRMPlanner(adore::view::ALaneChangeView *lcv, adore::params::APLateralPlanner *plat, adore::params::APTacticalPlanner *ptac, adore::params::APVehicle *pveh, adore::params::APTrajectoryGeneration *ptrajectory)
Definition: mergemrmplanner.h:56
LateralAccelerationReference lateralAccelerationReference_
Definition: mergemrmplanner.h:38
HeadingConstraint headingConstraintLB_
Definition: mergemrmplanner.h:43
FollowCenterlineReference lateralReference_
Definition: mergemrmplanner.h:37
LateralOffsetConstraintLM lateralOffsetConstraint_right_
Definition: mergemrmplanner.h:41
LateralOffsetConstraintLM lateralOffsetConstraint_left_
Definition: mergemrmplanner.h:40
LateralAccelerationConstraint lateralAccelerationConstraintLB_
Definition: mergemrmplanner.h:45
LateralAccelerationConstraint lateralAccelerationConstraintUB_
Definition: mergemrmplanner.h:44
HeadingConstraint headingConstraintUB_
Definition: mergemrmplanner.h:42
LateralJerkReference lateralJerkReference_
Definition: mergemrmplanner.h:39
abstract class containing parameters related to configuring the lateral planner
Definition: ap_lateral_planner.h:26
abstract classs containing parameters to configure aspects and constraints of the tactical planner
Definition: ap_tactical_planner.h:25
abstract class containing parameters to configure the behaviour of trajectory generation
Definition: ap_trajectory_generation.h:26
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
Definition: alanechangeview.h:27
Definition: areaofeffectconverter.h:20