ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
Public Types | Public Member Functions | Static Public Attributes | Protected Attributes | Private Member Functions | Private Attributes | List of all members
adore::fun::DecoupledLFLCPlanner< K, P > Class Template Reference

#include <decoupled_lflc_planner.h>

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Public Types

typedef adore::mad::LQ_OC_single_shooting< N, R, K, P > TProgressSolver
 
typedef adore::mad::LQ_OC_single_shooting< N, R, K, P > TOffsetSolver
 
typedef NominalPlannerInformationSet< N+1, 2 > TInformationSet
 

Public Member Functions

 DecoupledLFLCPlanner (adore::view::ALane *lfv, adore::params::APLongitudinalPlanner *aplon, adore::params::APLateralPlanner *aplat, adore::params::APVehicle *apvehicle, adore::params::APTrajectoryGeneration *aptrajectory)
 
void setPlanningHorizon (double Tend)
 
double getPlanningHorizon () const
 
TInformationSet & getInformationSet ()
 
TProgressSolver & getProgressSolver ()
 
TOffsetSolver & getOffsetSolver ()
 
RoadCoordinateConverter & getRoadCoordinateConverter ()
 
std::string getStatus ()
 
virtual void compute (const VehicleMotionState9d &initial_state) override
 
virtual bool hasValidPlan () const override
 
virtual const SetPointRequest * getSetPointRequest () const override
 
virtual double getCPUTime () const override
 

Static Public Attributes

static const int N = 3
 
static const int R = 1
 

Protected Attributes

TInformationSet info_
 

Private Member Functions

void init_progress_default_cost ()
 
void init_offset_default_cost ()
 
void initialize (double Tend)
 
void prepare_progress_computation ()
 
void prepare_offset_computation ()
 
bool update_guard (double &target, double value)
 
void update_progress_parameters ()
 
void update_offset_parameters ()
 

Private Attributes

TProgressSolver progress_solver_
 
TOffsetSolver offset_solver_
 
double s0
 
double ds0
 
double dds0
 
double n0
 
double dn0
 
double ddn0
 
double psi0
 
double omega0
 
double t0
 
double T_ [K+1]
 
double T_end_
 time steps, incl. 0 at 0 More...
 
RoadCoordinateConverter roadCoordinates_
 end time of plan, defines planning horizon as [0,T_end_] More...
 
adore::params::APLongitudinalPlanner * aplon_
 
adore::params::APLateralPlanner * aplat_
 
adore::params::APTrajectoryGeneration * aptraj_
 
adore::params::APVehicle * apvehicle_
 
SetPointRequest spr_
 
bool valid_
 the result as a set-point request More...
 
int step_
 

Detailed Description

template<int K, int P>
class adore::fun::DecoupledLFLCPlanner< K, P >

Plans trajectories in a road relative coordinate system in 3 steps, using qpOASES. In step 1 the longitudinal motion of a point mass along the road coordinate s, the progress is optimized. In step 2 the lateral motion of a point mass is optimized. In step 3 the detailed vehicle dynamics is recovered by solving an initial value problem for the zero dynamics of the vehile model. Template parameter K defines number of time steps considered during planning, K*P is an increased number of time steps gained by interpolation. The optimization problems in step 1 and 2 are formulated as linear-quadratic with box constraints for integrator chains with input at the third derivative. All constraints and references for the optimization problems have to be externally supplied via the NominalPlannerInformationSet interface.

Member Typedef Documentation

◆ TInformationSet

template<int K, int P>
typedef NominalPlannerInformationSet<N+1,2> adore::fun::DecoupledLFLCPlanner< K, P >::TInformationSet

◆ TOffsetSolver

template<int K, int P>
typedef adore::mad::LQ_OC_single_shooting<N,R,K,P> adore::fun::DecoupledLFLCPlanner< K, P >::TOffsetSolver

◆ TProgressSolver

template<int K, int P>
typedef adore::mad::LQ_OC_single_shooting<N,R,K,P> adore::fun::DecoupledLFLCPlanner< K, P >::TProgressSolver

Constructor & Destructor Documentation

◆ DecoupledLFLCPlanner()

template<int K, int P>
adore::fun::DecoupledLFLCPlanner< K, P >::DecoupledLFLCPlanner ( adore::view::ALane *  lfv,
adore::params::APLongitudinalPlanner *  aplon,
adore::params::APLateralPlanner *  aplat,
adore::params::APVehicle *  apvehicle,
adore::params::APTrajectoryGeneration *  aptrajectory 
)
inline
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Member Function Documentation

◆ compute()

template<int K, int P>
virtual void adore::fun::DecoupledLFLCPlanner< K, P >::compute ( const VehicleMotionState9d &  initial_state)
inlineoverridevirtual

compute - try to compute a trajectory according to given constraints and objective

Implements adore::fun::ANominalPlanner.

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◆ getCPUTime()

template<int K, int P>
virtual double adore::fun::DecoupledLFLCPlanner< K, P >::getCPUTime ( ) const
inlineoverridevirtual

getCPUTime - return the time require for trajectory planning in seconds

Implements adore::fun::ANominalPlanner.

◆ getInformationSet()

template<int K, int P>
TInformationSet& adore::fun::DecoupledLFLCPlanner< K, P >::getInformationSet ( )
inline

◆ getOffsetSolver()

template<int K, int P>
TOffsetSolver& adore::fun::DecoupledLFLCPlanner< K, P >::getOffsetSolver ( )
inline
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◆ getPlanningHorizon()

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::getPlanningHorizon ( ) const
inline
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◆ getProgressSolver()

template<int K, int P>
TProgressSolver& adore::fun::DecoupledLFLCPlanner< K, P >::getProgressSolver ( )
inline
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◆ getRoadCoordinateConverter()

template<int K, int P>
RoadCoordinateConverter& adore::fun::DecoupledLFLCPlanner< K, P >::getRoadCoordinateConverter ( )
inline
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◆ getSetPointRequest()

template<int K, int P>
virtual const SetPointRequest* adore::fun::DecoupledLFLCPlanner< K, P >::getSetPointRequest ( ) const
inlineoverridevirtual

getSetPointRequest - return computed trajectory in the form of a SetPointRequest

Implements adore::fun::ANominalPlanner.

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◆ getStatus()

template<int K, int P>
std::string adore::fun::DecoupledLFLCPlanner< K, P >::getStatus ( )
inline
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◆ hasValidPlan()

template<int K, int P>
virtual bool adore::fun::DecoupledLFLCPlanner< K, P >::hasValidPlan ( ) const
inlineoverridevirtual

hasValidPlan - return true, if a trajectory was computed, which satisfies given constraints

Implements adore::fun::ANominalPlanner.

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◆ init_offset_default_cost()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::init_offset_default_cost ( )
inlineprivate
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◆ init_progress_default_cost()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::init_progress_default_cost ( )
inlineprivate
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◆ initialize()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::initialize ( double  Tend)
inlineprivate
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◆ prepare_offset_computation()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::prepare_offset_computation ( )
inlineprivate

prepare_offset_computation - sets up the constraints for the lateral optimization problem

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◆ prepare_progress_computation()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::prepare_progress_computation ( )
inlineprivate

prepare_progress_computation - sets up the constraints for the longitudinal optimization problem

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◆ setPlanningHorizon()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::setPlanningHorizon ( double  Tend)
inline
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◆ update_guard()

template<int K, int P>
bool adore::fun::DecoupledLFLCPlanner< K, P >::update_guard ( double &  target,
double  value 
)
inlineprivate
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◆ update_offset_parameters()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::update_offset_parameters ( )
inlineprivate
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◆ update_progress_parameters()

template<int K, int P>
void adore::fun::DecoupledLFLCPlanner< K, P >::update_progress_parameters ( )
inlineprivate
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Member Data Documentation

◆ aplat_

template<int K, int P>
adore::params::APLateralPlanner* adore::fun::DecoupledLFLCPlanner< K, P >::aplat_
private

◆ aplon_

template<int K, int P>
adore::params::APLongitudinalPlanner* adore::fun::DecoupledLFLCPlanner< K, P >::aplon_
private

◆ aptraj_

template<int K, int P>
adore::params::APTrajectoryGeneration* adore::fun::DecoupledLFLCPlanner< K, P >::aptraj_
private

◆ apvehicle_

template<int K, int P>
adore::params::APVehicle* adore::fun::DecoupledLFLCPlanner< K, P >::apvehicle_
private

◆ ddn0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::ddn0
private

◆ dds0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::dds0
private

◆ dn0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::dn0
private

◆ ds0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::ds0
private

◆ info_

template<int K, int P>
TInformationSet adore::fun::DecoupledLFLCPlanner< K, P >::info_
protected

◆ N

template<int K, int P>
const int adore::fun::DecoupledLFLCPlanner< K, P >::N = 3
static

◆ n0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::n0
private

◆ offset_solver_

template<int K, int P>
TOffsetSolver adore::fun::DecoupledLFLCPlanner< K, P >::offset_solver_
private

◆ omega0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::omega0
private

◆ progress_solver_

template<int K, int P>
TProgressSolver adore::fun::DecoupledLFLCPlanner< K, P >::progress_solver_
private

◆ psi0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::psi0
private

◆ R

template<int K, int P>
const int adore::fun::DecoupledLFLCPlanner< K, P >::R = 1
static

◆ roadCoordinates_

template<int K, int P>
RoadCoordinateConverter adore::fun::DecoupledLFLCPlanner< K, P >::roadCoordinates_
private

end time of plan, defines planning horizon as [0,T_end_]

◆ s0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::s0
private

◆ spr_

template<int K, int P>
SetPointRequest adore::fun::DecoupledLFLCPlanner< K, P >::spr_
private

◆ step_

template<int K, int P>
int adore::fun::DecoupledLFLCPlanner< K, P >::step_
private

◆ t0

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::t0
private

◆ T_

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::T_[K+1]
private

◆ T_end_

template<int K, int P>
double adore::fun::DecoupledLFLCPlanner< K, P >::T_end_
private

time steps, incl. 0 at 0

◆ valid_

template<int K, int P>
bool adore::fun::DecoupledLFLCPlanner< K, P >::valid_
private

the result as a set-point request

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