adore::fun::SetPointRequest Class Reference

#include <setpointrequest.h>

Collaboration diagram for adore::fun::SetPointRequest:

Public Member Functions
	SetPointRequest ()
virtual	~SetPointRequest ()
void	push_back (const SetPoint &setPoint)
void	append (const adoreMatrix< double, 1, 0 > &T, const adoreMatrix< double, 0, 0 > &X, int N, int maneuverID=0)
void	setStartTime (double new_t0)
double	getDuration () const
PlanarVehicleState10d	interpolateReference (double t, adore::params::APVehicle *p) const
SetPoint	interpolateSetPoint (double t, adore::params::APVehicle *p) const
void	relocate (double deltaX, double deltaY, double new_PSI0)
void	relocateTo (double newX0, double newY0, double new_PSI0)
void	removeAfter (double t)
int	numberOfDistinctManeuvers ()
void	compress (int targetCount)
void	copySetPointInterval (double t0, double t1, SetPointRequest &destination) const
void	copyTo (SetPointRequest &destination) const
void	copySetPointInterval (double t0, double t1, SetPointRequest &destination, int maneuverID) const
void	copyTo (SetPointRequest &destination, int maneuverID) const
bool	isActive (double t) const
bool	isPending (double t) const
bool	isDone (double t) const
int	getActiveElementNumber (double t) const
adore::mad::LLinearPiecewiseFunctionM< double, 4 >	getTrajectory ()
void	cropAfterFirstStop (double vxslow)
	remove SetPoints after first stop Method looks for first downward zero crossing of vx and removes all SetPoints at zero crossing and after. More...

Public Attributes
std::vector< SetPoint >	setPoints
int	setPointRequestID

Detailed Description

A description of a reference trajectory. Consisting of a queue of SetPoints, SetPointRequest defines the reference vehicle behavior during a longer time interval consisting of the sub-intervals of separate SetPoints.

Constructor & Destructor Documentation

SetPointRequest()

adore::fun::SetPointRequest::SetPointRequest ( )

inline

~SetPointRequest()

virtual adore::fun::SetPointRequest::~SetPointRequest ( )

inlinevirtual

Member Function Documentation

append()

void adore::fun::SetPointRequest::append ( const adoreMatrix< double, 1, 0 > &  T, const adoreMatrix< double, 0, 0 > &  X, int  N, int  maneuverID = 0  )

inline

Add N new SetPoints to the end of the trajectory. Data for new SetPoints is retrieved from a state matrix.

Parameters

T	time steps
X	state matrix of size #x * #T
N	number of SetPoints to be appended, step size is changed accordingly
maneuverID	maneuver type

Here is the call graph for this function:

Here is the caller graph for this function:

compress()

void adore::fun::SetPointRequest::compress ( int  targetCount )

inline

resize the spr to the desired number of setpoints

Here is the call graph for this function:

copySetPointInterval() [1/2]

void adore::fun::SetPointRequest::copySetPointInterval ( double  t0, double  t1, SetPointRequest &  destination  ) const

inline

copy a SetPoints in a given time interval to a destination SetPointRequest

copySetPointInterval() [2/2]

void adore::fun::SetPointRequest::copySetPointInterval ( double  t0, double  t1, SetPointRequest &  destination, int  maneuverID  ) const

inline

copy a SetPoints in a given time interval to a destination SetPointRequest and change their maneuverID

copyTo() [1/2]

void adore::fun::SetPointRequest::copyTo ( SetPointRequest &  destination ) const

inline

copy all SetPoints to a destionation SetPointRequest

Here is the caller graph for this function:

copyTo() [2/2]

void adore::fun::SetPointRequest::copyTo ( SetPointRequest &  destination, int  maneuverID  ) const

inline

copy all SetPoints to a destionation SetPointRequest

cropAfterFirstStop()

void adore::fun::SetPointRequest::cropAfterFirstStop ( double  vxslow )

inline

remove SetPoints after first stop Method looks for first downward zero crossing of vx and removes all SetPoints at zero crossing and after.

Parameters

vxslow

terminal speed, defining the zero line for which zero crossing is detected

Here is the caller graph for this function:

getActiveElementNumber()

int adore::fun::SetPointRequest::getActiveElementNumber ( double  t ) const

inline

get the index of the SetPoint, which is active at time t

Here is the call graph for this function:

getDuration()

double adore::fun::SetPointRequest::getDuration ( ) const

inline

getTrajectory()

adore::mad::LLinearPiecewiseFunctionM<double,4> adore::fun::SetPointRequest::getTrajectory ( )

inline

Convert SetPointRequest to a state matrix representation with states [X,Y,PSI,vx].

Returns

a matrix of size 5 x N

Here is the caller graph for this function:

interpolateReference()

PlanarVehicleState10d adore::fun::SetPointRequest::interpolateReference ( double  t, adore::params::APVehicle *  p  ) const

inline

Retrieve the reference vehicle state for an exact time t. In the general case t is located between discrete time steps. The reference is then interpolated by forwards integration.

Parameters

t	the desired point of time
p	vehicle parameters used for forwards integration

Here is the call graph for this function:

Here is the caller graph for this function:

interpolateSetPoint()

SetPoint adore::fun::SetPointRequest::interpolateSetPoint ( double  t, adore::params::APVehicle *  p  ) const

inline

Here is the call graph for this function:

Here is the caller graph for this function:

isActive()

bool adore::fun::SetPointRequest::isActive ( double  t ) const

inline

test whether SetPointRequest has a reference for time t

Here is the caller graph for this function:

isDone()

bool adore::fun::SetPointRequest::isDone ( double  t ) const

inline

test whether SetPointRequest ends before time t

isPending()

bool adore::fun::SetPointRequest::isPending ( double  t ) const

inline

test whether SetPointRequest has a reference for time t or starts after time t

numberOfDistinctManeuvers()

int adore::fun::SetPointRequest::numberOfDistinctManeuvers ( )

inline

count the number of distinct maneuver ids

Here is the caller graph for this function:

push_back()

void adore::fun::SetPointRequest::push_back ( const SetPoint &  setPoint )

inline

Here is the caller graph for this function:

relocate()

void adore::fun::SetPointRequest::relocate ( double  deltaX, double  deltaY, double  new_PSI0  )

inline

Rotate and translate the reference trajectory to another initial position.

Parameters

deltaX	the shift by X coordinate
deltaY	the shift by Y coordinate
new_PSI0	the new initial heading/direction

q = R(psi)(p-p0)+p1

Here is the call graph for this function:

relocateTo()

void adore::fun::SetPointRequest::relocateTo ( double  newX0, double  newY0, double  new_PSI0  )

inline

Rotate and translate the reference trajectory to another initial position.

Parameters

newX0	the new origin X coordinate
newY0	the new origin Y coordinate
new_PSI0	the new initial heading/direction

Here is the call graph for this function:

Here is the caller graph for this function:

removeAfter()

void adore::fun::SetPointRequest::removeAfter ( double  t )

inline

Remove entries after a certain point of time

Parameters

t	maximum time to be contained

Here is the caller graph for this function:

setStartTime()

void adore::fun::SetPointRequest::setStartTime ( double  new_t0 )

inline

shift the reference trajectory in time

Parameters

new_t0

the new start time

Here is the caller graph for this function:

Member Data Documentation

setPointRequestID

int adore::fun::SetPointRequest::setPointRequestID

id of reference trajectory, incremented with each update to track changes

setPoints

std::vector<SetPoint> adore::fun::SetPointRequest::setPoints

SetPoints, ordered by time

---

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/setpointrequest.h