adore::apps::TrajectoryPlannerLF Class Reference

Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest. More...

#include <trajectory_planner_lf.h>

Inheritance diagram for adore::apps::TrajectoryPlannerLF:

Collaboration diagram for adore::apps::TrajectoryPlannerLF:

Public Member Functions
virtual	~TrajectoryPlannerLF ()
	TrajectoryPlannerLF (int id=0, std::string plannerName="lane-following", double lateral_i_grid=0.0)
void	setConstPenalty (double value)
void	setSpeedScale (double value)
void	addConstraint (fun::ANominalConstraint *constraint)
void	setStopPoint (int value)
virtual void	computeTrajectory (const adore::fun::PlanningRequest &planning_request, adore::fun::PlanningResult &planning_result) override
	update data, views and recompute maneuver More...
Public Member Functions inherited from adore::apps::TrajectoryPlannerBase
virtual	~TrajectoryPlannerBase ()
	TrajectoryPlannerBase ()
void	prime ()
void	planning_request_handler ()

Protected Attributes
adore::env::ThreeLaneViewDecoupled	three_lanes_

Private Types
typedef adore::fun::BasicLaneFollowingPlanner< 20, 5 >	TNominalPlanner
typedef adore::fun::BasicMRMPlanner< 20, 5 >	TEmergencyPlanner

Private Attributes
TNominalPlanner *	nominal_planner_
TEmergencyPlanner *	emergency_planner_
adore::params::APVehicle *	pvehicle_
adore::params::APTacticalPlanner *	pTacticalPlanner_
adore::params::APTrajectoryGeneration *	pTrajectoryGeneration_
adore::params::APEmergencyOperation *	pEmergencyOperation_
adore::params::APPrediction *	ppred_
adore::env::NavigationGoalObserver	ngo_
adore::env::ControlledConnectionSet4Ego	connectionSet_
adore::env::ControlledConnectionSet4Ego	checkPointSet_
adore::env::ConnectionsOnLane *	connectionsOnLane_
adore::env::ConnectionsOnLane *	checkPointsOnLane_
adore::env::DecoupledTrafficPredictionView	prediction_
adore::fun::SPRTTCNominal	ttcCost_
adore::fun::SPRNonCoercive	coercion_detection_
adore::env::DecoupledConflictPointView	conflicts_
adore::fun::SPRInvariantCollisionFreedom	collision_detection_
int	id_
std::string	plannerName_
double	lateral_i_grid_
double	const_penalty_

Detailed Description

Decoupled trajectory planner, which uses TrajectoryPlannerBase to compute and provide a PlanningResult in the event of a PlanningRequest.

Member Typedef Documentation

TEmergencyPlanner

typedef adore::fun::BasicMRMPlanner<20,5> adore::apps::TrajectoryPlannerLF::TEmergencyPlanner

private

TNominalPlanner

typedef adore::fun::BasicLaneFollowingPlanner<20,5> adore::apps::TrajectoryPlannerLF::TNominalPlanner

private

Constructor & Destructor Documentation

~TrajectoryPlannerLF()

virtual adore::apps::TrajectoryPlannerLF::~TrajectoryPlannerLF ( )

inlinevirtual

penalty, which is always added to cost

TrajectoryPlannerLF()

adore::apps::TrajectoryPlannerLF::TrajectoryPlannerLF ( int  id = 0, std::string  plannerName = "lane-following", double  lateral_i_grid = 0.0  )

inline

Here is the call graph for this function:

Member Function Documentation

addConstraint()

void adore::apps::TrajectoryPlannerLF::addConstraint ( fun::ANominalConstraint *  constraint )

inline

Here is the call graph for this function:

computeTrajectory()

virtual void adore::apps::TrajectoryPlannerLF::computeTrajectory ( const adore::fun::PlanningRequest &  planning_request, adore::fun::PlanningResult &  planning_result  )

inlineoverridevirtual

update data, views and recompute maneuver

Implements adore::apps::TrajectoryPlannerBase.

Here is the caller graph for this function:

setConstPenalty()

void adore::apps::TrajectoryPlannerLF::setConstPenalty ( double  value )

inline

Here is the caller graph for this function:

setSpeedScale()

void adore::apps::TrajectoryPlannerLF::setSpeedScale ( double  value )

inline

Here is the call graph for this function:

Here is the caller graph for this function:

setStopPoint()

void adore::apps::TrajectoryPlannerLF::setStopPoint ( int  value )

inline

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

checkPointSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLF::checkPointSet_

private

state of checkPoints in area

checkPointsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLF::checkPointsOnLane_

private

map controlled connections to lane

coercion_detection_

adore::fun::SPRNonCoercive adore::apps::TrajectoryPlannerLF::coercion_detection_

private

collision detection vs expected behavior

collision_detection_

adore::fun::SPRInvariantCollisionFreedom adore::apps::TrajectoryPlannerLF::collision_detection_

private

cross traffic conflicts combined maneuver post-processing constraints collision detection with traffic predictions

conflicts_

adore::env::DecoupledConflictPointView adore::apps::TrajectoryPlannerLF::conflicts_

private

connectionSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLF::connectionSet_

private

state of controlled connections in area

connectionsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLF::connectionsOnLane_

private

const_penalty_

double adore::apps::TrajectoryPlannerLF::const_penalty_

private

grid index

emergency_planner_

TEmergencyPlanner* adore::apps::TrajectoryPlannerLF::emergency_planner_

private

id_

int adore::apps::TrajectoryPlannerLF::id_

private

integral id to be written to PlanningResult

lateral_i_grid_

double adore::apps::TrajectoryPlannerLF::lateral_i_grid_

private

human readable planner name written to PlanningResult

ngo_

adore::env::NavigationGoalObserver adore::apps::TrajectoryPlannerLF::ngo_

private

nominal_planner_

TNominalPlanner* adore::apps::TrajectoryPlannerLF::nominal_planner_

private

pEmergencyOperation_

adore::params::APEmergencyOperation* adore::apps::TrajectoryPlannerLF::pEmergencyOperation_

private

plannerName_

std::string adore::apps::TrajectoryPlannerLF::plannerName_

private

ppred_

adore::params::APPrediction* adore::apps::TrajectoryPlannerLF::ppred_

private

prediction_

adore::env::DecoupledTrafficPredictionView adore::apps::TrajectoryPlannerLF::prediction_

private

collision detection based representation of traffic

pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TrajectoryPlannerLF::pTacticalPlanner_

private

pTrajectoryGeneration_

adore::params::APTrajectoryGeneration* adore::apps::TrajectoryPlannerLF::pTrajectoryGeneration_

private

pvehicle_

adore::params::APVehicle* adore::apps::TrajectoryPlannerLF::pvehicle_

private

three_lanes_

adore::env::ThreeLaneViewDecoupled adore::apps::TrajectoryPlannerLF::three_lanes_

protected

map controlled connections to lane lane-based representation of environment

ttcCost_

adore::fun::SPRTTCNominal adore::apps::TrajectoryPlannerLF::ttcCost_

private

collision detection based ttc computation

---

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

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