65 if (dx * dx + dy * dy < R*R)
74 ss<<
"reset: radius R="<<R<<
" exceeded with dx="<<dx<<
" and dy="<<dy;
161 status_msg_ =
"can not interpolate vehicle states";
virtual TVehicleMotionStateReader * getVehicleMotionStateReader()=0
Definition: activationstateobserver.h:22
bool isAutomaticControlEnabled()
Definition: activationstateobserver.h:34
Utility class to simplify factory access.
Definition: afactory.h:154
static adore::fun::AFactory * get()
Definition: afactory.h:170
class helps to dispatch SetPointRequest to controller SetPointRequestDispatcher handles selection of ...
Definition: setpointrequest_dispatcher.h:29
std::string getStatus()
Definition: setpointrequest_dispatcher.h:218
VehicleMotionState9d x0_odometry_
Definition: setpointrequest_dispatcher.h:44
void computeResetCondition()
Definition: setpointrequest_dispatcher.h:50
AFactory::TSetPointRequestWriter * nominal_trajectory_writer_
Definition: setpointrequest_dispatcher.h:38
VehicleMotionState9d x_localization_
Definition: setpointrequest_dispatcher.h:41
SetPointRequest spr_localization_
Definition: setpointrequest_dispatcher.h:40
adore::params::APTacticalPlanner * ptac_
Definition: setpointrequest_dispatcher.h:31
VehicleMotionStateBuffer odometry_buffer_
Definition: setpointrequest_dispatcher.h:34
SetPointRequestDispatcher()
Definition: setpointrequest_dispatcher.h:165
VehicleMotionState9d x0_localization_
Definition: setpointrequest_dispatcher.h:43
ActivationStateObserver activation_observer_
Definition: setpointrequest_dispatcher.h:45
void update()
Definition: setpointrequest_dispatcher.h:139
AFactory::TSetPointRequestWriter * setpointrequest_localization_writer_
Definition: setpointrequest_dispatcher.h:36
std::string status_msg_
Definition: setpointrequest_dispatcher.h:48
SetPointRequest spr_odom_
Definition: setpointrequest_dispatcher.h:39
bool getInitialState(VehicleMotionState9d &result)
compute and return initial state for next planning iteration The according initial state in odometry ...
Definition: setpointrequest_dispatcher.h:191
AFactory::TMotionStateReader * localization_state_reader_
Definition: setpointrequest_dispatcher.h:33
void computePlanStartPoint()
Definition: setpointrequest_dispatcher.h:95
VehicleMotionStateBuffer localization_buffer_
Definition: setpointrequest_dispatcher.h:35
bool reset_
Definition: setpointrequest_dispatcher.h:46
bool has_vehicle_state_
Definition: setpointrequest_dispatcher.h:47
void dispatch(SetPointRequest &combined_trajectory, SetPointRequest &nominal_trajectory)
dispatch SetPointRequests computed in localization coordinates The combined trajectory will be conver...
Definition: setpointrequest_dispatcher.h:208
~SetPointRequestDispatcher()
Definition: setpointrequest_dispatcher.h:177
adore::params::APVehicle * pveh_
Definition: setpointrequest_dispatcher.h:32
VehicleMotionState9d x_odometry_
Definition: setpointrequest_dispatcher.h:42
AFactory::TSetPointRequestWriter * setpointrequest_odometry_writer_
Definition: setpointrequest_dispatcher.h:37
Definition: setpointrequest.h:35
PlanarVehicleState10d interpolateReference(double t, adore::params::APVehicle *p) const
Definition: setpointrequest.h:112
void relocateTo(double newX0, double newY0, double new_PSI0)
Definition: setpointrequest.h:187
bool isActive(double t) const
Definition: setpointrequest.h:332
std::vector< SetPoint > setPoints
Definition: setpointrequest.h:38
Buffers and interpolates vehicle positions.
Definition: vehiclemotionstatebuffer.h:28
double getTmax()
Definition: vehiclemotionstatebuffer.h:62
void update()
call update to check for new data
Definition: vehiclemotionstatebuffer.h:44
bool interpolate_or_latest(double t, VehicleMotionState9d &result)
get the latest, if
Definition: vehiclemotionstatebuffer.h:71
double size()
Definition: vehiclemotionstatebuffer.h:58
Definition: com_patterns.h:68
Definition: com_patterns.h:97
virtual void write(const T &value)=0
virtual APTacticalPlanner * getTacticalPlanner() const =0
virtual APVehicle * getVehicle() const =0
abstract classs containing parameters to configure aspects and constraints of the tactical planner
Definition: ap_tactical_planner.h:25
virtual double getResetRadius() const =0
abstract class for vehicle configuration related paremeters
Definition: ap_vehicle.h:29
static adore::params::AFactory * get()
Definition: afactory.h:103
interval< T > atan2(interval< T > y, interval< T > x)
Definition: intervalarithmetic.h:234
interval< T > cos(interval< T > x)
Definition: intervalarithmetic.h:225
T min(T a, T b, T c, T d)
Definition: adoremath.h:663
interval< T > sin(interval< T > x)
Definition: intervalarithmetic.h:204
Definition: areaofeffectconverter.h:20
This struct holds the motion state of the vehicle in 9d.
Definition: vehiclemotionstate9d.h:39
void setY(double value)
Set the y-coordinate.
Definition: vehiclemotionstate9d.h:121
double getX() const
Get the x-coordinate.
Definition: vehiclemotionstate9d.h:54
double getvx() const
Get the longitudinal velocity.
Definition: vehiclemotionstate9d.h:78
void setAx(double value)
Set the longitudinal acceleration.
Definition: vehiclemotionstate9d.h:157
void setvx(double value)
set the longitudinal velocity
Definition: vehiclemotionstate9d.h:139
double getY() const
Get the y-coordinate.
Definition: vehiclemotionstate9d.h:60
double getPSI() const
Get the heading.
Definition: vehiclemotionstate9d.h:72
void setOmega(double value)
Set the yaw rate.
Definition: vehiclemotionstate9d.h:151
void setX(double value)
Set the x-coordinate.
Definition: vehiclemotionstate9d.h:115
void setPSI(double value)
set the heading
Definition: vehiclemotionstate9d.h:133
void setvy(double value)
set the lateral velocity
Definition: vehiclemotionstate9d.h:145
void setDelta(double value)
Set the steering angle.
Definition: vehiclemotionstate9d.h:163
void setTime(double value)
Set the time.
Definition: vehiclemotionstate9d.h:109
double getTime() const
Get the time.
Definition: vehiclemotionstate9d.h:48