84 adore::env::EnvFactoryInstance::get()->getControlledConnectionFeed()),
86 adore::env::EnvFactoryInstance::get()->getCheckPointFeed()),
114 pLongitudinalPlanner,
167 planning_result.
id =
id_;
184 if(!current->isValid())
215 std::vector<double> emergency_acceleration;
225 bool collision_detection_passed =
false;
227 for(
double a_em:emergency_acceleration)
247 collision_detection_passed =
true;
255 planning_result.
status_string +=
"emergency maneuver planning failed";
273 if(!collision_detection_passed)
275 planning_result.
status_string =
"collision detected for combined maneuver";
333 if(!coercion_detection_passed)
335 planning_result.
status_string =
"coercion detected for nominal maneuver";
361 planning_result.
indicator_left = current->getLeftIndicatorHint(s);
Base class for different trajectory planners: Handles communication w/ decision making module....
Definition: trajectory_planner_base.h:31
Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResul...
Definition: trajectory_planner_lf.h:41
void setStopPoint(int value)
Definition: trajectory_planner_lf.h:147
double const_penalty_
Definition: trajectory_planner_lf.h:75
virtual void computeTrajectory(const adore::fun::PlanningRequest &planning_request, adore::fun::PlanningResult &planning_result) override
update data, views and recompute maneuver
Definition: trajectory_planner_lf.h:164
adore::fun::SPRTTCNominal ttcCost_
Definition: trajectory_planner_lf.h:62
double lateral_i_grid_
Definition: trajectory_planner_lf.h:74
adore::env::ThreeLaneViewDecoupled three_lanes_
Definition: trajectory_planner_lf.h:59
virtual ~TrajectoryPlannerLF()
Definition: trajectory_planner_lf.h:77
std::string plannerName_
Definition: trajectory_planner_lf.h:73
adore::fun::BasicLaneFollowingPlanner< 20, 5 > TNominalPlanner
Definition: trajectory_planner_lf.h:43
adore::env::ControlledConnectionSet4Ego checkPointSet_
Definition: trajectory_planner_lf.h:55
adore::env::DecoupledConflictPointView conflicts_
Definition: trajectory_planner_lf.h:64
adore::params::APVehicle * pvehicle_
Definition: trajectory_planner_lf.h:48
adore::params::APEmergencyOperation * pEmergencyOperation_
Definition: trajectory_planner_lf.h:51
adore::params::APPrediction * ppred_
Definition: trajectory_planner_lf.h:52
adore::fun::SPRNonCoercive coercion_detection_
Definition: trajectory_planner_lf.h:63
void addConstraint(fun::ANominalConstraint *constraint)
Definition: trajectory_planner_lf.h:143
adore::env::ConnectionsOnLane * checkPointsOnLane_
Definition: trajectory_planner_lf.h:57
adore::fun::BasicMRMPlanner< 20, 5 > TEmergencyPlanner
Definition: trajectory_planner_lf.h:44
adore::env::ControlledConnectionSet4Ego connectionSet_
Definition: trajectory_planner_lf.h:54
TrajectoryPlannerLF(int id=0, std::string plannerName="lane-following", double lateral_i_grid=0.0)
Definition: trajectory_planner_lf.h:82
TNominalPlanner * nominal_planner_
Definition: trajectory_planner_lf.h:45
TEmergencyPlanner * emergency_planner_
Definition: trajectory_planner_lf.h:46
int id_
Definition: trajectory_planner_lf.h:72
adore::params::APTacticalPlanner * pTacticalPlanner_
Definition: trajectory_planner_lf.h:49
adore::params::APTrajectoryGeneration * pTrajectoryGeneration_
Definition: trajectory_planner_lf.h:50
adore::fun::SPRInvariantCollisionFreedom collision_detection_
Definition: trajectory_planner_lf.h:69
adore::env::DecoupledTrafficPredictionView prediction_
Definition: trajectory_planner_lf.h:61
void setSpeedScale(double value)
Definition: trajectory_planner_lf.h:139
adore::env::ConnectionsOnLane * connectionsOnLane_
Definition: trajectory_planner_lf.h:56
adore::env::NavigationGoalObserver ngo_
Definition: trajectory_planner_lf.h:53
void setConstPenalty(double value)
Definition: trajectory_planner_lf.h:135
Definition: connectionsonlane.h:33
void update()
Definition: connectionsonlane.h:82
Specialization of ControlledConnectionSet: Filters connections in range of ego.
Definition: controlledconnection.h:232
virtual void update()
Definition: controlledconnection.h:243
Definition: decoupledconflictpointview.h:25
void update()
Definition: decoupledconflictpointview.h:36
Definition: decoupledtrafficpredictionview.h:24
void update()
Definition: decoupledtrafficpredictionview.h:43
Definition: navigationgoalobserver.h:31
void update()
Definition: navigationgoalobserver.h:56
Definition: threelaneviewdecoupled.h:32
virtual adore::view::ALane * getCurrentLane()
Definition: threelaneviewdecoupled.h:405
void update()
Definition: threelaneviewdecoupled.h:373
Definition: anominalplanner.h:52
Definition: basiclanefollowingplanner.h:37
void addConstraint(ANominalConstraint *constraint)
Definition: basiclanefollowingplanner.h:142
void setConflictSet(adore::view::AConflictPointSet *conflicts)
Definition: basiclanefollowingplanner.h:158
void setSpeedScale(double value)
Definition: basiclanefollowingplanner.h:154
Plans minimum risk maneuvers on given lane. K number of control points for planning....
Definition: basicmrmplanner.h:36
double getPlanningHorizon() const
Definition: decoupled_lflc_planner.h:327
virtual const SetPointRequest * getSetPointRequest() const override
Definition: decoupled_lflc_planner.h:491
TProgressSolver & getProgressSolver()
Definition: decoupled_lflc_planner.h:335
std::string getStatus()
Definition: decoupled_lflc_planner.h:348
virtual bool hasValidPlan() const override
Definition: decoupled_lflc_planner.h:484
TOffsetSolver & getOffsetSolver()
Definition: decoupled_lflc_planner.h:339
virtual void compute(const VehicleMotionState9d &initial_state) override
Definition: decoupled_lflc_planner.h:372
virtual const SetPointRequest * getSetPointRequest() const
Definition: mrmplanner.h:273
void setAMin(double value)
Definition: mrmplanner.h:55
void setTStall(double value)
Definition: mrmplanner.h:53
virtual void compute(const VehicleMotionState9d &initial_state)
Definition: mrmplanner.h:175
void setJMax(double value)
Definition: mrmplanner.h:52
void setAStall(double value)
Definition: mrmplanner.h:54
void setSecondAttempt(bool value)
Definition: mrmplanner.h:56
virtual bool hasValidPlan() const
Definition: mrmplanner.h:266
Definition: basicsetpointrequestevaluators.h:148
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:155
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:154
Definition: basicsetpointrequestevaluators.h:32
virtual bool isValid(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:46
Definition: basicsetpointrequestevaluators.h:364
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:366
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:367
Definition: basicsetpointrequestevaluators.h:378
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:381
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:380
Definition: basicsetpointrequestevaluators.h:178
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:189
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:190
Definition: basicsetpointrequestevaluators.h:68
std::string getName() const
Definition: basicsetpointrequestevaluators.h:99
virtual bool isValid(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:82
Definition: basicsetpointrequestevaluators.h:256
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:268
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:267
Definition: basicsetpointrequestevaluators.h:107
virtual double getCost(const adore::fun::SetPointRequest &spr) const override
Definition: basicsetpointrequestevaluators.h:117
virtual std::string getName() const override
Definition: basicsetpointrequestevaluators.h:116
Definition: setpointrequestswath.h:26
void append_cylinder_swath_linear(const SetPointRequest &spr, adore::mad::OccupancyCylinderTree &prediction, bool terminal=false)
Definition: setpointrequestswath.h:55
void setLonError(double value)
Definition: setpointrequestswath.h:42
void setAccelerationErrorSlow(double value)
Definition: setpointrequestswath.h:44
void setDuration(double value)
Definition: setpointrequestswath.h:43
void setLatError(double value)
Definition: setpointrequestswath.h:41
void cropAfterFirstStop(double vxslow)
remove SetPoints after first stop Method looks for first downward zero crossing of vx and removes all...
Definition: setpointrequest.h:412
SetPoint interpolateSetPoint(double t, adore::params::APVehicle *p) const
Definition: setpointrequest.h:145
void removeAfter(double t)
Definition: setpointrequest.h:211
void copyTo(SetPointRequest &destination) const
Definition: setpointrequest.h:293
std::vector< SetPoint > setPoints
Definition: setpointrequest.h:38
PlanarVehicleState10d x0ref
Definition: setpoint.h:32
VehicleMotionState9d toMotionState() const
Definition: setpoint.h:46
adoreMatrix< T, n+1, 0 > & getData()
Definition: llinearpiecewisefunction.h:147
t_lbx & lbx()
Definition: lq_oc_single_shooting.h:713
t_ubx & ubx()
Definition: lq_oc_single_shooting.h:714
t_resultfun & result_fun()
Definition: lq_oc_single_shooting.h:704
virtual APLateralPlanner * getLateralPlanner() const =0
virtual APTacticalPlanner * getTacticalPlanner() const =0
virtual APTrajectoryGeneration * getTrajectoryGeneration() const =0
virtual APVehicle * getVehicle() const =0
virtual APPrediction * getPrediction() const =0
virtual APEmergencyOperation * getEmergencyOperation() const =0
virtual APLongitudinalPlanner * getLongitudinalPlanner() const =0
abstract class containing parameters concerning emergency operation behaviour
Definition: ap_emergency_operation.h:25
virtual double getEmergencyManeuverAMax() const =0
virtual double getEmergencyManeuverJMin() const =0
virtual double getEmergencyManeuverAMin() const =0
virtual double getEmergencyManeuverTStall() const =0
parameter interface for parameters related to prediction
Definition: ap_prediction.h:28
virtual double get_roadbased_prediction_duration() const =0
prediction duration for objects that can be matched to road
abstract classs containing parameters to configure aspects and constraints of the tactical planner
Definition: ap_tactical_planner.h:25
virtual int getCoercionPreventionStrategy() const =0
getCoercionPreventionStrategy returns 0 switched off, 1 objective function, 2 constraint
virtual double getCollisionDetectionLateralError() const =0
virtual double getTerminateAfterFirstStopThresholdSpeed() const =0
virtual double getCollisionDetectionFrontBufferSpace() const =0
virtual double getCollisionDetectionLongitudinalError() const =0
virtual double getCollisionDetectionLateralPrecision() const =0
virtual double getNominalSwathAccelerationError() const =0
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
virtual double get_b() const =0
rear axle to cog
virtual double get_bodyWidth() const =0
virtual double get_d() const =0
rear border to rear axle
virtual double get_a() const =0
cog to front axle
virtual double get_c() const =0
front axle to front border
static adore::params::AFactory * get()
Definition: afactory.h:103
adoreMatrix< T, 1, n > linspace(T x0, T x1)
Definition: adoremath.h:91
x0
Definition: adore_set_goal.py:25
Definition: areaofeffectconverter.h:20
double getX() const
Definition: planarvehiclestate10d.h:62
double getY() const
Definition: planarvehiclestate10d.h:63
Definition: planning_request.h:22
double t_emergency_start
Definition: planning_request.h:26
SetPoint initial_state
Definition: planning_request.h:27
long long int iteration
Definition: planning_request.h:23
Definition: planning_result.h:29
adore::mad::LLinearPiecewiseFunctionM< double, 3 > nominal_maneuver_lateral_lbx
Definition: planning_result.h:56
bool combined_maneuver_valid
Definition: planning_result.h:64
adore::mad::LLinearPiecewiseFunctionM< double, 4 > nominal_maneuver_longitudinal_plan
Definition: planning_result.h:43
std::string name
Definition: planning_result.h:32
static const int NOMINAL_DRIVING
Definition: planning_result.h:75
adore::mad::LLinearPiecewiseFunctionM< double, 4 > nominal_maneuver_lateral_plan
Definition: planning_result.h:54
adore::mad::LLinearPiecewiseFunctionM< double, 3 > nominal_maneuver_longitudinal_lbx
Definition: planning_result.h:46
std::string status_string
Definition: planning_result.h:65
adore::mad::LLinearPiecewiseFunctionM< double, 3 > nominal_maneuver_lateral_ubx
Definition: planning_result.h:59
std::unordered_map< std::string, double > objective_values
Definition: planning_result.h:68
int id
Definition: planning_result.h:30
int maneuver_type
Definition: planning_result.h:72
adore::mad::OccupancyCylinderTree combined_maneuver_swath
Definition: planning_result.h:40
bool indicator_right
Definition: planning_result.h:77
bool nominal_maneuver_valid
Definition: planning_result.h:63
int iteration
Definition: planning_result.h:31
adore::mad::OccupancyCylinderTree nominal_maneuver_swath
Definition: planning_result.h:38
bool indicator_left
Definition: planning_result.h:76
SetPointRequest nominal_maneuver
Definition: planning_result.h:33
SetPointRequest combined_maneuver
Definition: planning_result.h:35
adore::mad::LLinearPiecewiseFunctionM< double, 3 > nominal_maneuver_longitudinal_ubx
Definition: planning_result.h:50