adore::apps::TrajectoryPlannerLM Class Reference

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

#include <trajectory_planner_lm.h>

Inheritance diagram for adore::apps::TrajectoryPlannerLM:

Collaboration diagram for adore::apps::TrajectoryPlannerLM:

Public Member Functions
virtual	~TrajectoryPlannerLM ()
	TrajectoryPlannerLM (bool directionLeft, std::string name, int id)
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 ()

Private Types
typedef adore::fun::BasicMergePlanner< 20, 5 >	TNominalPlanner
typedef adore::fun::MergeMRMPlanner< 20, 5 >	TEmergencyPlanner

Private Attributes
TNominalPlanner *	nominal_planner_
TEmergencyPlanner *	emergency_planner_
adore::params::APVehicle *	pvehicle_
adore::params::APTacticalPlanner *	pTacticalPlanner_
adore::params::APTrajectoryGeneration *	pTrajectoryGeneration_
adore::env::NavigationGoalObserver	ngo_
adore::env::ControlledConnectionSet4Ego	connectionSet_
adore::env::ControlledConnectionSet4Ego	checkPointSet_
adore::env::ConnectionsOnLane *	connectionsOnLane_
adore::env::ConnectionsOnLane *	checkPointsOnLane_
adore::env::ThreeLaneViewDecoupled	three_lanes_
adore::env::DecoupledTrafficPredictionView	prediction_
adore::fun::SPRInvariantCollisionFreedom	collision_detection_
int	id_
std::string	plannerName_
bool	directionLeft_

Detailed Description

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

Member Typedef Documentation

TEmergencyPlanner

typedef adore::fun::MergeMRMPlanner<20,5> adore::apps::TrajectoryPlannerLM::TEmergencyPlanner

private

TNominalPlanner

typedef adore::fun::BasicMergePlanner<20,5> adore::apps::TrajectoryPlannerLM::TNominalPlanner

private

Constructor & Destructor Documentation

~TrajectoryPlannerLM()

virtual adore::apps::TrajectoryPlannerLM::~TrajectoryPlannerLM ( )

inlinevirtual

TrajectoryPlannerLM()

adore::apps::TrajectoryPlannerLM::TrajectoryPlannerLM ( bool  directionLeft, std::string  name, int  id  )

inline

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Member Function Documentation

computeTrajectory()

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

inlineoverridevirtual

update data, views and recompute maneuver

Implements adore::apps::TrajectoryPlannerBase.

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Member Data Documentation

checkPointSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLM::checkPointSet_

private

state of checkPoints in area

checkPointsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLM::checkPointsOnLane_

private

map controlled connections to lane

collision_detection_

adore::fun::SPRInvariantCollisionFreedom adore::apps::TrajectoryPlannerLM::collision_detection_

private

combined maneuver post-processing constraints collision detection with traffic predictions

connectionSet_

adore::env::ControlledConnectionSet4Ego adore::apps::TrajectoryPlannerLM::connectionSet_

private

state of controlled connections in area

connectionsOnLane_

adore::env::ConnectionsOnLane* adore::apps::TrajectoryPlannerLM::connectionsOnLane_

private

directionLeft_

bool adore::apps::TrajectoryPlannerLM::directionLeft_

private

true if lane change to the left

emergency_planner_

TEmergencyPlanner* adore::apps::TrajectoryPlannerLM::emergency_planner_

private

id_

int adore::apps::TrajectoryPlannerLM::id_

private

integral id to be written to PlanningResult

ngo_

adore::env::NavigationGoalObserver adore::apps::TrajectoryPlannerLM::ngo_

private

nominal_planner_

TNominalPlanner* adore::apps::TrajectoryPlannerLM::nominal_planner_

private

plannerName_

std::string adore::apps::TrajectoryPlannerLM::plannerName_

private

human readable planner name written to PlanningResult

prediction_

adore::env::DecoupledTrafficPredictionView adore::apps::TrajectoryPlannerLM::prediction_

private

collision detection based representation of traffic

pTacticalPlanner_

adore::params::APTacticalPlanner* adore::apps::TrajectoryPlannerLM::pTacticalPlanner_

private

pTrajectoryGeneration_

adore::params::APTrajectoryGeneration* adore::apps::TrajectoryPlannerLM::pTrajectoryGeneration_

private

pvehicle_

adore::params::APVehicle* adore::apps::TrajectoryPlannerLM::pvehicle_

private

three_lanes_

adore::env::ThreeLaneViewDecoupled adore::apps::TrajectoryPlannerLM::three_lanes_

private

map controlled connections to lane lane-based representation of environment

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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/trajectory_planner_lm.h