adore::apps::TestMRMPlanner Class Reference

test bench implementation for minimum risk maneuver planner More...

#include <test_mrm_planner.h>

Collaboration diagram for adore::apps::TestMRMPlanner:

Public Member Functions
	TestMRMPlanner (adore::env::AFactory *envFactory, adore::fun::AFactory *funFactory, adore::params::AFactory *PARAMS_Factory)
	~TestMRMPlanner ()
void	run ()
	update function of the trajectory planner More...
void	plot ()
void	init_plot ()

Private Types
typedef adore::fun::MRMPlanner< 20, 5 >	TPlanner

Private Attributes
adore::env::AFactory *	envFactory_
adore::fun::AFactory *	funFactory_
adore::params::AFactory *	paramsFactory_
adore::params::APVehicle *	pvehicle_
adore::params::APTacticalPlanner *	pTacticalPlanner_
adore::params::APLateralPlanner *	plat_
adore::env::BorderBased::LocalRoadMap	roadmap_
adore::env::traffic::TrafficMap	trafficMap_
adore::env::BorderBased::LaneFollowingView	lfv_
adore::mad::AReader< adore::fun::VehicleMotionState9d > *	xreader_
adore::mad::AWriter< adore::fun::SetPointRequest > *	wwriter_
adore::fun::VehicleMotionState9d	x_
TPlanner *	planner_
adore::fun::FollowCenterlineReference *	followCenterlineReference_
adore::fun::LateralAccelerationReference *	lateralAccelerationReference_
adore::fun::LateralJerkReference *	lateralJerkReference_
adore::fun::LateralOffsetConstraintLF *	lateralOffsetConstraintLFUB_
adore::fun::LateralOffsetConstraintLF *	lateralOffsetConstraintLFLB_
adore::fun::HeadingConstraint *	headingConstraintUB_
adore::fun::HeadingConstraint *	headingConstraintLB_
adore::fun::FollowPrecedingVehicle *	followVehicleConstraint_
DLR_TS::PlotLab::FigureStubFactory *	fig_factory
DLR_TS::PlotLab::AFigureStub *	figure_lon1
DLR_TS::PlotLab::AFigureStub *	figure_lon2
DLR_TS::PlotLab::AFigureStub *	figure_lat1
DLR_TS::PlotLab::AFigureStub *	figure_lat2

Detailed Description

test bench implementation for minimum risk maneuver planner

Member Typedef Documentation

TPlanner

typedef adore::fun::MRMPlanner<20,5> adore::apps::TestMRMPlanner::TPlanner

private

Constructor & Destructor Documentation

TestMRMPlanner()

adore::apps::TestMRMPlanner::TestMRMPlanner ( adore::env::AFactory *  envFactory, adore::fun::AFactory *  funFactory, adore::params::AFactory *  PARAMS_Factory  )

inline

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~TestMRMPlanner()

adore::apps::TestMRMPlanner::~TestMRMPlanner ( )

inline

Member Function Documentation

init_plot()

void adore::apps::TestMRMPlanner::init_plot ( )

inline

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plot()

void adore::apps::TestMRMPlanner::plot ( )

inline

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run()

void adore::apps::TestMRMPlanner::run ( )

inline

update function of the trajectory planner

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Member Data Documentation

envFactory_

adore::env::AFactory* adore::apps::TestMRMPlanner::envFactory_

private

fig_factory

DLR_TS::PlotLab::FigureStubFactory* adore::apps::TestMRMPlanner::fig_factory

private

figure_lat1

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lat1

private

figure_lat2

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lat2

private

figure_lon1

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lon1

private

figure_lon2

DLR_TS::PlotLab::AFigureStub* adore::apps::TestMRMPlanner::figure_lon2

private

followCenterlineReference_

adore::fun::FollowCenterlineReference* adore::apps::TestMRMPlanner::followCenterlineReference_

private

reference for lateral position: follow the middle of the lane

followVehicleConstraint_

adore::fun::FollowPrecedingVehicle* adore::apps::TestMRMPlanner::followVehicleConstraint_

private

post-processing constraint for longitudinal plan

funFactory_

adore::fun::AFactory* adore::apps::TestMRMPlanner::funFactory_

private

headingConstraintLB_

adore::fun::HeadingConstraint* adore::apps::TestMRMPlanner::headingConstraintLB_

private

constraint for deviation from road direction

headingConstraintUB_

adore::fun::HeadingConstraint* adore::apps::TestMRMPlanner::headingConstraintUB_

private

constraint for deviation from road direction

lateralAccelerationReference_

adore::fun::LateralAccelerationReference* adore::apps::TestMRMPlanner::lateralAccelerationReference_

private

curvature compensation

lateralJerkReference_

adore::fun::LateralJerkReference* adore::apps::TestMRMPlanner::lateralJerkReference_

private

lateral jerk compensation

lateralOffsetConstraintLFLB_

adore::fun::LateralOffsetConstraintLF* adore::apps::TestMRMPlanner::lateralOffsetConstraintLFLB_

private

lateral position bounds governed by lane boundaries

lateralOffsetConstraintLFUB_

adore::fun::LateralOffsetConstraintLF* adore::apps::TestMRMPlanner::lateralOffsetConstraintLFUB_

private

lateral position bounds governed by lane boundaries

lfv_

adore::env::BorderBased::LaneFollowingView adore::apps::TestMRMPlanner::lfv_

private

paramsFactory_

adore::params::AFactory* adore::apps::TestMRMPlanner::paramsFactory_

private

planner_

TPlanner* adore::apps::TestMRMPlanner::planner_

private

plat_

adore::params::APLateralPlanner* adore::apps::TestMRMPlanner::plat_

private

pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TestMRMPlanner::pTacticalPlanner_

private

pvehicle_

adore::params::APVehicle* adore::apps::TestMRMPlanner::pvehicle_

private

roadmap_

adore::env::BorderBased::LocalRoadMap adore::apps::TestMRMPlanner::roadmap_

private

trafficMap_

adore::env::traffic::TrafficMap adore::apps::TestMRMPlanner::trafficMap_

private

wwriter_

adore::mad::AWriter<adore::fun::SetPointRequest>* adore::apps::TestMRMPlanner::wwriter_

private

x_

adore::fun::VehicleMotionState9d adore::apps::TestMRMPlanner::x_

private

xreader_

adore::mad::AReader<adore::fun::VehicleMotionState9d>* adore::apps::TestMRMPlanner::xreader_

private

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

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/test_mrm_planner.h