adore::fun::PlanningResult Struct Reference

#include <planning_result.h>

Collaboration diagram for adore::fun::PlanningResult:

Public Member Functions
	PlanningResult ()
double	getObjectiveValue (std::string name, double bound)

Public Attributes
int	id
int	iteration
std::string	name
SetPointRequest	nominal_maneuver
SetPointRequest	combined_maneuver
TerminalRequest	terminal_maneuver
adore::mad::OccupancyCylinderTree	nominal_maneuver_swath
adore::mad::OccupancyCylinderTree	combined_maneuver_swath
adore::mad::LLinearPiecewiseFunctionM< double, 4 >	nominal_maneuver_longitudinal_plan
adore::mad::LLinearPiecewiseFunctionM< double, 3 >	nominal_maneuver_longitudinal_lbx
adore::mad::LLinearPiecewiseFunctionM< double, 3 >	nominal_maneuver_longitudinal_ubx
adore::mad::LLinearPiecewiseFunctionM< double, 4 >	nominal_maneuver_lateral_plan
adore::mad::LLinearPiecewiseFunctionM< double, 3 >	nominal_maneuver_lateral_lbx
adore::mad::LLinearPiecewiseFunctionM< double, 3 >	nominal_maneuver_lateral_ubx
bool	nominal_maneuver_valid
bool	combined_maneuver_valid
std::string	status_string
std::unordered_map< std::string, double >	objective_values
std::unordered_map< std::string, double >	performance_values
int	maneuver_type
bool	indicator_left
bool	indicator_right

Static Public Attributes
static const int	COLLISION_MITIGATION = 0
static const int	EMERGENCY_BREAKING = 1
static const int	NOMINAL_DRIVING = 2

Detailed Description

PlanningResult describes result of the planning process for a single maneuver in detail.

Constructor & Destructor Documentation

PlanningResult()

adore::fun::PlanningResult::PlanningResult ( )

inline

Member Function Documentation

getObjectiveValue()

double adore::fun::PlanningResult::getObjectiveValue ( std::string  name, double  bound  )

inline

Returns

objective value corresponding to objective name, if entry exists. Otherwise return bound.

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Member Data Documentation

COLLISION_MITIGATION

const int adore::fun::PlanningResult::COLLISION_MITIGATION = 0

static

combined_maneuver

SetPointRequest adore::fun::PlanningResult::combined_maneuver

combined maneuver starting with nominal_maneuver and transitioning to emergency_maneuver ending in safe state

combined_maneuver_swath

adore::mad::OccupancyCylinderTree adore::fun::PlanningResult::combined_maneuver_swath

space-time volume expected to be covered by combined_maneuver

combined_maneuver_valid

bool adore::fun::PlanningResult::combined_maneuver_valid

EMERGENCY_BREAKING

const int adore::fun::PlanningResult::EMERGENCY_BREAKING = 1

static

id

int adore::fun::PlanningResult::id

numerical planner id

indicator_left

bool adore::fun::PlanningResult::indicator_left

indicator_right

bool adore::fun::PlanningResult::indicator_right

iteration

int adore::fun::PlanningResult::iteration

determines to which planning iteration the planning result contributes

maneuver_type

int adore::fun::PlanningResult::maneuver_type

name

std::string adore::fun::PlanningResult::name

human-readable identifier for or type of maneuver, e.g. "lane following"

NOMINAL_DRIVING

const int adore::fun::PlanningResult::NOMINAL_DRIVING = 2

static

nominal_maneuver

SetPointRequest adore::fun::PlanningResult::nominal_maneuver

the nominal maneuver optimzed towards horizon: not to be executed but rather for HMI and decision making

nominal_maneuver_lateral_lbx

adore::mad::LLinearPiecewiseFunctionM<double, 3> adore::fun::PlanningResult::nominal_maneuver_lateral_lbx

lower bounds for planning dim 0: t; dim 1: n; dim 2: dn; dim 3: ddn

nominal_maneuver_lateral_plan

adore::mad::LLinearPiecewiseFunctionM<double, 4> adore::fun::PlanningResult::nominal_maneuver_lateral_plan

dim 0: t; dim 1: n; dim 2: dn; dim 3: ddn

nominal_maneuver_lateral_ubx

adore::mad::LLinearPiecewiseFunctionM<double, 3> adore::fun::PlanningResult::nominal_maneuver_lateral_ubx

upper bounds for planning dim 0: t; dim 1: n; dim 2: dn; dim 3: ddn

nominal_maneuver_longitudinal_lbx

adore::mad::LLinearPiecewiseFunctionM<double, 3> adore::fun::PlanningResult::nominal_maneuver_longitudinal_lbx

lower bounds for planning dim 0: t; dim 1: s; dim 2: ds; dim 3: dds

nominal_maneuver_longitudinal_plan

adore::mad::LLinearPiecewiseFunctionM<double, 4> adore::fun::PlanningResult::nominal_maneuver_longitudinal_plan

dim 0: t; dim 1: s; dim 2: ds; dim 3: dds

nominal_maneuver_longitudinal_ubx

adore::mad::LLinearPiecewiseFunctionM<double, 3> adore::fun::PlanningResult::nominal_maneuver_longitudinal_ubx

upper bounds for planning dim 0: t; dim 1: s; dim 2: ds; dim 3: dds

nominal_maneuver_swath

adore::mad::OccupancyCylinderTree adore::fun::PlanningResult::nominal_maneuver_swath

space-time volume expected to be covered by nominal_maneuver

nominal_maneuver_valid

bool adore::fun::PlanningResult::nominal_maneuver_valid

objective_values

std::unordered_map<std::string, double> adore::fun::PlanningResult::objective_values

set of individual objective values, to be weighted by decision making. e.g. acceleration, jerk, time-loss/navigation-cost

performance_values

std::unordered_map<std::string, double> adore::fun::PlanningResult::performance_values

cpu-time measurements, etc.

status_string

std::string adore::fun::PlanningResult::status_string

string explaining for example why constraint evaluation failed, e.g. "collision with prediction of object 17, branch 3, at t=0.58" or "I/O lin inversion fail"

terminal_maneuver

TerminalRequest adore::fun::PlanningResult::terminal_maneuver

full-break/standstill after execution of combined maneuver

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/planning_result.h