#include <basicsetpointrequestevaluators.h>

Inheritance diagram for adore::fun::SPRTTCNominal:

Collaboration diagram for adore::fun::SPRTTCNominal:

Public Member Functions
	SPRTTCNominal (adore::view::ATrafficPredictionView predictionView, adore::params::APVehicle pvehicle=adore::params::ParamsFactoryInstance::get() ->getVehicle())

virtual std::string	getName () const override

virtual double	getCost (const adore::fun::SetPointRequest &spr) const override

Private Attributes
adore::view::ATrafficPredictionView *	predictionView_

adore::params::APVehicle *	pvehicle_

Detailed Description

Apply SPRTTCNominal to nominal maneuver to test for expected time to collison of nominal maneuver with other objects. The cost value returned is ((t_max-ttc)/t_max)^2 \in [0,1]

Constructor & Destructor Documentation

◆ SPRTTCNominal()

adore::fun::SPRTTCNominal::SPRTTCNominal	(	adore::view::ATrafficPredictionView *	predictionView,
		adore::params::APVehicle *	pvehicle = `adore::params::ParamsFactoryInstance::get()->getVehicle()`
	)

inline

Member Function Documentation

◆ getCost()

virtual double adore::fun::SPRTTCNominal::getCost ( const adore::fun::SetPointRequest & spr ) const

inlineoverridevirtual

Returns: positive double value for given SetPointRequest

Implements adore::fun::ASPRCost.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getName()

virtual std::string adore::fun::SPRTTCNominal::getName ( ) const

inlineoverridevirtual

Returns: name of cost function or objective

Implements adore::fun::ASPRCost.

Here is the caller graph for this function:

Member Data Documentation

◆ predictionView_

adore::view::ATrafficPredictionView* adore::fun::SPRTTCNominal::predictionView_

private

◆ pvehicle_

adore::params::APVehicle* adore::fun::SPRTTCNominal::pvehicle_