#include <mrmplanner.h>

Inheritance diagram for adore::fun::MRMPlanner< K, P >:

Collaboration diagram for adore::fun::MRMPlanner< K, P >:

Public Types
typedef adore::mad::LLinearPiecewiseFunctionM< double, N+R >	TPartialPlan

typedef InformationSetPostProcessing< 4, 2 >	TPostProcessConstraints

Public Member Functions
void	setJMax (double value)

void	setTStall (double value)

void	setAStall (double value)

void	setAMin (double value)

void	setSecondAttempt (bool value)

	MRMPlanner (adore::view::ALane lfv, adore::params::APLateralPlanner aplat, adore::params::APVehicle apvehicle, adore::params::APTrajectoryGeneration aptrajectory)

TPostProcessConstraints::TInformationSet &	getInformationSet ()

double	amin_medium_brake_trapezoidal (double v0, double a0, double jmin) const
	minimum acceleration that can be achieved before inverting jerk to end with v=0 and a=0 More...

void	t_short_brake_trapezoidal (double v0, double a0, double jmin, double t3)
	times required for ramp up during short brake More...

void	t_medium_brake_trapezoidal (double v0, double a0, double jmin, double &t1, double &t3) const
	times required for ramp down and ramp up during medium brake More...

void	t_long_brake_trapezoidal (double v0, double a0, double amin, double jmin, double &t1, double &t2, double &t3) const
	times required for ramp down, constant and ramp up during long brake More...

int	brake_case_trapezoidal (double v0, double a0, double amin, double jmin) const

void	brake_params_trapezoidal (double v0, double a0, double amin, double jmin, double &a1, double &t1, double &t2, double &t3)
	general parameters More...

double	a_brake_trapezoidal (double t, double a0, double a1, double jmin, double t1, double t2, double t3)

double	j_brake_trapezoidal (double t, double jmin, double t1, double t2, double t3)

virtual void	compute (const VehicleMotionState9d &initial_state)

TPartialPlan &	getLongitudinalPlan ()

TPartialPlan &	getLateralPlan ()

LateralPlanner< K, P > &	getOffsetSolver ()

virtual bool	hasValidPlan () const

virtual const SetPointRequest *	getSetPointRequest () const

virtual double	getCPUTime () const

Static Public Attributes
static const int	N = 3

static const int	R = 1

Private Attributes
LateralPlanner< K, P >	lateralPlanner_

TPartialPlan	longitudinal_plan_

TPostProcessConstraints	postproc_

RoadCoordinateConverter	roadCoordinates_

adore::params::APTrajectoryGeneration *	aptraj_

adore::params::APVehicle *	apvehicle_

double	jmax_

double	tstall_

double	astall_

double	amin_

bool	second_attempt_

bool	longitudinal_plan_valid_

Detailed Description

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

MRMPlanner uses a fixed acceleration profile and LateralPlanner to compute a braking trajectory. The fixed acceleration profile consists of two phases with different accelerations and may be parametrized by tstall, the duration of phase 0, astall, the acceleration of phase 0 and amin, the acceleration of phase 1. The lateral motion is constrained to the current lane. If the trajectory with two phases (delayed action) is invalid, a trajectory with immediate deceleration with amin will be attempted.

Member Typedef Documentation

◆ TPartialPlan

template<int K, int P>

typedef adore::mad::LLinearPiecewiseFunctionM<double,N+R> adore::fun::MRMPlanner< K, P >::TPartialPlan

◆ TPostProcessConstraints

template<int K, int P>

typedef InformationSetPostProcessing<4,2> adore::fun::MRMPlanner< K, P >::TPostProcessConstraints

Constructor & Destructor Documentation

◆ MRMPlanner()

template<int K, int P>

adore::fun::MRMPlanner< K, P >::MRMPlanner	(	adore::view::ALane *	lfv,
		adore::params::APLateralPlanner *	aplat,
		adore::params::APVehicle *	apvehicle,
		adore::params::APTrajectoryGeneration *	aptrajectory
	)

inline

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Member Function Documentation

◆ a_brake_trapezoidal()

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::a_brake_trapezoidal	(	double	t,
		double	a0,
		double	a1,
		double	jmin,
		double	t1,
		double	t2,
		double	t3
	)

inline

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◆ amin_medium_brake_trapezoidal()

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::amin_medium_brake_trapezoidal	(	double	v0,
		double	a0,
		double	jmin
	)		const

inline

minimum acceleration that can be achieved before inverting jerk to end with v=0 and a=0

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◆ brake_case_trapezoidal()

template<int K, int P>

int adore::fun::MRMPlanner< K, P >::brake_case_trapezoidal	(	double	v0,
		double	a0,
		double	amin,
		double	jmin
	)		const

inline

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◆ brake_params_trapezoidal()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::brake_params_trapezoidal	(	double	v0,
		double	a0,
		double	amin,
		double	jmin,
		double &	a1,
		double &	t1,
		double &	t2,
		double &	t3
	)

inline

general parameters

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◆ compute()

template<int K, int P>

virtual void adore::fun::MRMPlanner< K, P >::compute ( const VehicleMotionState9d & initial_state )

inlinevirtual

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::MRMPlanner< K, P >::getCPUTime ( ) const

inlinevirtual

getCPUTime - return the time require for trajectory planning in seconds

Implements adore::fun::ANominalPlanner.

◆ getInformationSet()

template<int K, int P>

TPostProcessConstraints::TInformationSet& adore::fun::MRMPlanner< K, P >::getInformationSet ( )

inline

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◆ getLateralPlan()

template<int K, int P>

TPartialPlan& adore::fun::MRMPlanner< K, P >::getLateralPlan ( )

inline

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◆ getLongitudinalPlan()

template<int K, int P>

TPartialPlan& adore::fun::MRMPlanner< K, P >::getLongitudinalPlan ( )

inline

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◆ getOffsetSolver()

template<int K, int P>

LateralPlanner<K,P>& adore::fun::MRMPlanner< K, P >::getOffsetSolver ( )

inline

provide reference to lateralPlanner for manipulation of constraints and references

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◆ getSetPointRequest()

template<int K, int P>

virtual const SetPointRequest* adore::fun::MRMPlanner< K, P >::getSetPointRequest ( ) const

inlinevirtual

getSetPointRequest - return computed trajectory in the form of a SetPointRequest

Implements adore::fun::ANominalPlanner.

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◆ hasValidPlan()

template<int K, int P>

virtual bool adore::fun::MRMPlanner< K, P >::hasValidPlan ( ) const

inlinevirtual

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

Implements adore::fun::ANominalPlanner.

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◆ j_brake_trapezoidal()

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::j_brake_trapezoidal	(	double	t,
		double	jmin,
		double	t1,
		double	t2,
		double	t3
	)

inline

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◆ setAMin()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::setAMin ( double value )

inline

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◆ setAStall()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::setAStall ( double value )

inline

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◆ setJMax()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::setJMax ( double value )

inline

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◆ setSecondAttempt()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::setSecondAttempt ( bool value )

inline

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◆ setTStall()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::setTStall ( double value )

inline

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◆ t_long_brake_trapezoidal()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::t_long_brake_trapezoidal	(	double	v0,
		double	a0,
		double	amin,
		double	jmin,
		double &	t1,
		double &	t2,
		double &	t3
	)		const

inline

times required for ramp down, constant and ramp up during long brake

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◆ t_medium_brake_trapezoidal()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::t_medium_brake_trapezoidal	(	double	v0,
		double	a0,
		double	jmin,
		double &	t1,
		double &	t3
	)		const

inline

times required for ramp down and ramp up during medium brake

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◆ t_short_brake_trapezoidal()

template<int K, int P>

void adore::fun::MRMPlanner< K, P >::t_short_brake_trapezoidal	(	double	v0,
		double	a0,
		double	jmin,
		double	t3
	)

inline

times required for ramp up during short brake

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Member Data Documentation

◆ amin_

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::amin_

private

delayed, hard deceleration value

◆ aptraj_

template<int K, int P>

adore::params::APTrajectoryGeneration* adore::fun::MRMPlanner< K, P >::aptraj_

private

◆ apvehicle_

template<int K, int P>

adore::params::APVehicle* adore::fun::MRMPlanner< K, P >::apvehicle_

private

◆ astall_

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::astall_

private

initial, soft deceleration value

◆ jmax_

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::jmax_

private

maximum absolute longitudinal accelration

◆ lateralPlanner_

template<int K, int P>

LateralPlanner<K,P> adore::fun::MRMPlanner< K, P >::lateralPlanner_

private

◆ longitudinal_plan_

template<int K, int P>

TPartialPlan adore::fun::MRMPlanner< K, P >::longitudinal_plan_

private

◆ longitudinal_plan_valid_

template<int K, int P>

bool adore::fun::MRMPlanner< K, P >::longitudinal_plan_valid_

private

is true, if a valid longitudinal trajectory is available

◆ N

template<int K, int P>

const int adore::fun::MRMPlanner< K, P >::N = 3

static

◆ postproc_

template<int K, int P>

TPostProcessConstraints adore::fun::MRMPlanner< K, P >::postproc_

private

◆ R

template<int K, int P>

const int adore::fun::MRMPlanner< K, P >::R = 1

static

◆ roadCoordinates_

template<int K, int P>

RoadCoordinateConverter adore::fun::MRMPlanner< K, P >::roadCoordinates_

private

◆ second_attempt_

template<int K, int P>

bool adore::fun::MRMPlanner< K, P >::second_attempt_

private

if trajectory with tstall_ is invalid and second_attempt_ is true, a trajectory with immediate amin with computed

◆ tstall_

template<int K, int P>

double adore::fun::MRMPlanner< K, P >::tstall_

private

delay, during which astall_ is applied. after tstall_, amin_ is applied. set tstall to 0 to gain immediate braking maneuver

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

/home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/tac/mrmplanner.h

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

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

Member Typedef Documentation

◆ TPartialPlan

◆ TPostProcessConstraints

Constructor & Destructor Documentation

◆ MRMPlanner()

Member Function Documentation

◆ a_brake_trapezoidal()

◆ amin_medium_brake_trapezoidal()

◆ brake_case_trapezoidal()

◆ brake_params_trapezoidal()

◆ compute()

◆ getCPUTime()

◆ getInformationSet()

◆ getLateralPlan()

◆ getLongitudinalPlan()

◆ getOffsetSolver()

◆ getSetPointRequest()

◆ hasValidPlan()

◆ j_brake_trapezoidal()

◆ setAMin()

◆ setAStall()

◆ setJMax()

◆ setSecondAttempt()

◆ setTStall()

◆ t_long_brake_trapezoidal()

◆ t_medium_brake_trapezoidal()

◆ t_short_brake_trapezoidal()

Member Data Documentation

◆ amin_

◆ aptraj_

◆ apvehicle_

◆ astall_

◆ jmax_

◆ lateralPlanner_

◆ longitudinal_plan_

◆ longitudinal_plan_valid_

◆ N

◆ postproc_

◆ R

◆ roadCoordinates_

◆ second_attempt_

◆ tstall_

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