adore::fun::CurvatureSpeedLimit Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::CurvatureSpeedLimit:

Collaboration diagram for adore::fun::CurvatureSpeedLimit:

Public Member Functions
	CurvatureSpeedLimit (adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *plon)
virtual double	getValue (double t, double s, double ds) const override
virtual void	update (double t0, double s0, double ds0) override
virtual ConstraintDirection	getDirection () override
virtual int	getDimension () override
virtual int	getDerivative () override

Private Attributes
adore::view::ALane *	lfv_
adore::params::APLongitudinalPlanner *	plon_
double	lon_ayub_
double	vmin_ay_

Additional Inherited Members
Public Types inherited from adore::fun::ANominalConstraint
enum	ConstraintDirection { LB , UB }

Detailed Description

CurvatureSpeedLimit - limit speed during longitudinal planning in order to gain bounded lateral acceleration in curve |ds(t)^2 * kappa(s(t))| < ay_max

Constructor & Destructor Documentation

CurvatureSpeedLimit()

adore::fun::CurvatureSpeedLimit::CurvatureSpeedLimit ( adore::view::ALane *  lfv, adore::params::APLongitudinalPlanner *  plon  )

inline

Member Function Documentation

getDerivative()

virtual int adore::fun::CurvatureSpeedLimit::getDerivative ( )

inlineoverridevirtual

Determine for which derivative of given dimension this constraint is responsible.

Returns

applicable to which state derivative

Implements adore::fun::ANominalConstraint.

getDimension()

virtual int adore::fun::CurvatureSpeedLimit::getDimension ( )

inlineoverridevirtual

Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)

Returns

applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalConstraint.

getDirection()

virtual ConstraintDirection adore::fun::CurvatureSpeedLimit::getDirection ( )

inlineoverridevirtual

Determine whether this constraint is an upper or lower bound.

Returns

lb or ub

Implements adore::fun::ANominalConstraint.

getValue()

virtual double adore::fun::CurvatureSpeedLimit::getValue ( double  t, double  s, double  ds  ) const

inlineoverridevirtual

return the value of the constraint at a certain time and position

Parameters

t	the time
s	progress along the road-relative coordinate system
ds	derivative of s

Returns

value of the constraint (e.g. vmax for a speed limit)

Implements adore::fun::ANominalConstraint.

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update()

virtual void adore::fun::CurvatureSpeedLimit::update ( double  t0, double  s0, double  ds0  )

inlineoverridevirtual

Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.

Parameters

t0	start time for planning
s0	start progress in road-relative coordinate system
ds0	derivative of s at t0

Implements adore::fun::ANominalConstraint.

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Member Data Documentation

lfv_

adore::view::ALane* adore::fun::CurvatureSpeedLimit::lfv_

private

lon_ayub_

double adore::fun::CurvatureSpeedLimit::lon_ayub_

private

plon_

adore::params::APLongitudinalPlanner* adore::fun::CurvatureSpeedLimit::plon_

private

vmin_ay_

double adore::fun::CurvatureSpeedLimit::vmin_ay_

private

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

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