adore::fun::NominalPlannerInformationSet< N, D > Class Template Reference

#include <anominalplannerinformation.h>

Inheritance diagram for adore::fun::NominalPlannerInformationSet< N, D >:

Collaboration diagram for adore::fun::NominalPlannerInformationSet< N, D >:

Public Member Functions
	NominalPlannerInformationSet ()
void	add (ANominalReference *r)
void	add (ANominalConstraint *c)
bool	remove (ANominalConstraint *c)
bool	remove (ANominalReference *r)
void	add (ANominalPlannerInformation *value)
bool	remove (ANominalPlannerInformation *value)
virtual bool	getReferenceIfAvailable (int dim, int der, double t, double s, double ds, double &ref) const override
virtual double	getUB (int dim, int der, double t, double s, double ds) const override
virtual double	getLB (int dim, int der, double t, double s, double ds) const override
virtual void	update (double t0, double s0, double ds0) override

Private Types
typedef std::vector< ANominalConstraint * >	TCset
typedef std::vector< ANominalReference * >	TRset
typedef std::vector< ANominalPlannerInformation * >	TIset

Private Attributes
TCset	bound_ [D *N *2]
TRset	ref_ [D *N]
TIset	subsets_
double	unbound_

Detailed Description

template<int N, int D>
class adore::fun::NominalPlannerInformationSet< N, D >

NominalPlannerInformationSet - implements ANominalPlannerInformation by collecting a set of references and constraints. N is the number of derivatives D is the number of dimensions to be made available

Member Typedef Documentation

TCset

template<int N, int D>

typedef std::vector<ANominalConstraint*> adore::fun::NominalPlannerInformationSet< N, D >::TCset

private

TIset

template<int N, int D>

typedef std::vector<ANominalPlannerInformation*> adore::fun::NominalPlannerInformationSet< N, D >::TIset

private

TRset

template<int N, int D>

typedef std::vector<ANominalReference*> adore::fun::NominalPlannerInformationSet< N, D >::TRset

private

Constructor & Destructor Documentation

NominalPlannerInformationSet()

template<int N, int D>

adore::fun::NominalPlannerInformationSet< N, D >::NominalPlannerInformationSet ( )

inline

Constructor. Sets of constraints and references are initialized empty.

Member Function Documentation

add() [1/3]

template<int N, int D>

void adore::fun::NominalPlannerInformationSet< N, D >::add ( ANominalConstraint *  c )

inline

Adds a new constraint to the set.

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add() [2/3]

template<int N, int D>

void adore::fun::NominalPlannerInformationSet< N, D >::add ( ANominalPlannerInformation *  value )

inline

Adds a set of references and constraints as a subset.

add() [3/3]

template<int N, int D>

void adore::fun::NominalPlannerInformationSet< N, D >::add ( ANominalReference *  r )

inline

Adds a new reference to the set.

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getLB()

template<int N, int D>

virtual double adore::fun::NominalPlannerInformationSet< N, D >::getLB ( int  dim, int  der, double  t, double  s, double  ds  ) const

inlineoverridevirtual

Lower bound.

Parameters

dim	the dimension (longitudinal/lateral)
der	the derivative
t	the time
s	the progress along road-relative coordinate system
ds	the derivative of s

Returns

returns the lower bound for the offset's der's derivative in dimension dim

Implements adore::fun::ANominalPlannerInformation.

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getReferenceIfAvailable()

template<int N, int D>

virtual bool adore::fun::NominalPlannerInformationSet< N, D >::getReferenceIfAvailable ( int  dim, int  der, double  t, double  s, double  ds, double &  ref  ) const

inlineoverridevirtual

Evaluate reference.

Parameters

dim	the dimension (longitudinal/lateral)
der	the derivative
t	the time
s	the progress along road-relative coordinate system
ds	the derivative of s
ref	the resulting reference value returned by the function

Returns

true if the reference for the dimension and derivative is available and then writes the reference into ref

Implements adore::fun::ANominalPlannerInformation.

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getUB()

template<int N, int D>

virtual double adore::fun::NominalPlannerInformationSet< N, D >::getUB ( int  dim, int  der, double  t, double  s, double  ds  ) const

inlineoverridevirtual

Upper bound.

Parameters

dim	the dimension (longitudinal/lateral)
der	the derivative
t	the time
s	the progress along road-relative coordinate system
ds	the derivative of s

Returns

returns the upper bound for the offset's der's derivative in dimension dim

Implements adore::fun::ANominalPlannerInformation.

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remove() [1/3]

template<int N, int D>

bool adore::fun::NominalPlannerInformationSet< N, D >::remove ( ANominalConstraint *  c )

inline

Removes a constraint from the set.

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remove() [2/3]

template<int N, int D>

bool adore::fun::NominalPlannerInformationSet< N, D >::remove ( ANominalPlannerInformation *  value )

inline

Removes a set of references and constraints as a subset.

remove() [3/3]

template<int N, int D>

bool adore::fun::NominalPlannerInformationSet< N, D >::remove ( ANominalReference *  r )

inline

Removes a reference from the set.

update()

template<int N, int D>

virtual void adore::fun::NominalPlannerInformationSet< N, D >::update ( double  t0, double  s0, double  ds0  )

inlineoverridevirtual

Update all contained reference and constraint objects.

Parameters

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

Implements adore::fun::ANominalPlannerInformation.

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Member Data Documentation

bound_

template<int N, int D>

TCset adore::fun::NominalPlannerInformationSet< N, D >::bound_[D *N *2]

private

set of constraint objects

ref_

template<int N, int D>

TRset adore::fun::NominalPlannerInformationSet< N, D >::ref_[D *N]

private

set of reference objects

subsets_

template<int N, int D>

TIset adore::fun::NominalPlannerInformationSet< N, D >::subsets_

private

set of ANominalPlannerInformation bundles, for grouping of existing constraint/reference sets

unbound_

template<int N, int D>

double adore::fun::NominalPlannerInformationSet< N, D >::unbound_

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/anominalplannerinformation.h