adore::fun::FollowCenterlineReference Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::FollowCenterlineReference:

Collaboration diagram for adore::fun::FollowCenterlineReference:

Public Member Functions
	FollowCenterlineReference (adore::view::ALane *lfv, double i_grid=0.0)
virtual bool	getValueIfAvailable (double t, double s, double ds, double &ref) const override
virtual void	update (double t0, double s0, double ds0) override
virtual int	getDimension () override
virtual int	getDerivative () override

Private Attributes
adore::view::ALane *	lfv_
adore::params::APLateralPlanner *	p_lat_
adore::params::APVehicle *	p_veh_
double	d_
double	dmax_
	lateral grid scale More...
double	w_
	hard safety distance More...
double	i_grid_
	width of vehicle More...

Detailed Description

FollowCenterlineReference - use this reference to follow the coordinate system of the lane following view

Constructor & Destructor Documentation

FollowCenterlineReference()

adore::fun::FollowCenterlineReference::FollowCenterlineReference ( adore::view::ALane *  lfv, double  i_grid = 0.0  )

inline

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Member Function Documentation

getDerivative()

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

inlineoverridevirtual

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

Returns

applicable to which state derivative

Implements adore::fun::ANominalReference.

getDimension()

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

inlineoverridevirtual

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

Returns

applicable to which dimension, depends on setup of planner

Implements adore::fun::ANominalReference.

getValueIfAvailable()

virtual bool adore::fun::FollowCenterlineReference::getValueIfAvailable ( double  t, double  s, double  ds, double &  ref  ) const

inlineoverridevirtual

Determine whether a reference is available and retrieve its value.

Parameters

t	time
s	progress along coordinate system

Returns

true, if a reference is available

Implements adore::fun::ANominalReference.

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update()

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

inlineoverridevirtual

Refresh values of the reference 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::ANominalReference.

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Member Data Documentation

d_

double adore::fun::FollowCenterlineReference::d_

private

dmax_

double adore::fun::FollowCenterlineReference::dmax_

private

lateral grid scale

i_grid_

double adore::fun::FollowCenterlineReference::i_grid_

private

width of vehicle

lfv_

adore::view::ALane* adore::fun::FollowCenterlineReference::lfv_

private

p_lat_

adore::params::APLateralPlanner* adore::fun::FollowCenterlineReference::p_lat_

private

p_veh_

adore::params::APVehicle* adore::fun::FollowCenterlineReference::p_veh_

private

w_

double adore::fun::FollowCenterlineReference::w_

private

hard safety distance

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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