adore::fun::StdGapConstraintAndReference Class Reference

#include <lanechangeconstraintsandreferences.h>

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Public Member Functions
	StdGapConstraintAndReference (adore::view::ALane *lfv, adore::view::ALaneChangeView *lcv, const adore::params::APVehicle *pveh, const adore::params::APTacticalPlanner *ptac, const adore::params::APTrajectoryGeneration *pgen)
gapState	getGapState (double t) const
virtual double	getUB (int dim, int der, double t, double s, double ds) const override
	getUB returns the upper bound for the offset's der's derivative in dimension dim More...
virtual double	getLB (int dim, int der, double t, double s, double ds) const override
	getLB returns the lower bound for the offset's der's derivative in dimension dim More...
virtual bool	getReferenceIfAvailable (int dim, int der, double t, double s, double ds, double &ref) const override
	getReferenceIfAvailable returns true if the reference for the dimension and derivative is available and then writes the reference into ref More...
virtual void	update (double t0, double s0, double ds0) override
	update update all constraints and references More...
double	getFrontBound (double t) const
double	getLeadBound (double t) const
double	getChaseBound (double t) const
double	getGapCoordinate () const
void	setGapCoordinate (double s)

Private Types
enum	gapState { gapOpen , gapOpening , gapClosed }

Private Attributes
adore::view::ALane *	lfv_
adore::view::ALaneChangeView *	lcv_
const adore::params::APTacticalPlanner *	ptac_
const adore::params::APVehicle *	pveh_
const adore::params::APTrajectoryGeneration *	pgen_
double	s_front_t0_
double	v_front_t0_
double	s_lead_t0_
double	v_lead_t0_
double	s_chase_t0_
double	v_chase_t0_
double	t0_
double	s_

Detailed Description

Constraints and references to change lanes into a gap defined by s-coordinate

Member Enumeration Documentation

gapState

enum adore::fun::StdGapConstraintAndReference::gapState

private

Enumerator
gapOpen
gapOpening
gapClosed

Constructor & Destructor Documentation

StdGapConstraintAndReference()

adore::fun::StdGapConstraintAndReference::StdGapConstraintAndReference ( adore::view::ALane *  lfv, adore::view::ALaneChangeView *  lcv, const adore::params::APVehicle *  pveh, const adore::params::APTacticalPlanner *  ptac, const adore::params::APTrajectoryGeneration *  pgen  )

inline

Member Function Documentation

getChaseBound()

double adore::fun::StdGapConstraintAndReference::getChaseBound ( double  t ) const

inline

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getFrontBound()

double adore::fun::StdGapConstraintAndReference::getFrontBound ( double  t ) const

inline

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getGapCoordinate()

double adore::fun::StdGapConstraintAndReference::getGapCoordinate ( ) const

inline

getGapState()

gapState adore::fun::StdGapConstraintAndReference::getGapState ( double  t ) const

inline

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getLB()

virtual double adore::fun::StdGapConstraintAndReference::getLB ( int  dim, int  der, double  t, double  s, double  ds  ) const

inlineoverridevirtual

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

Implements adore::fun::ANominalPlannerInformation.

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getLeadBound()

double adore::fun::StdGapConstraintAndReference::getLeadBound ( double  t ) const

inline

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getReferenceIfAvailable()

virtual bool adore::fun::StdGapConstraintAndReference::getReferenceIfAvailable ( int  dim, int  der, double  t, double  s, double  ds, double &  ref  ) const

inlineoverridevirtual

getReferenceIfAvailable 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()

virtual double adore::fun::StdGapConstraintAndReference::getUB ( int  dim, int  der, double  t, double  s, double  ds  ) const

inlineoverridevirtual

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

Implements adore::fun::ANominalPlannerInformation.

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setGapCoordinate()

void adore::fun::StdGapConstraintAndReference::setGapCoordinate ( double  s )

inline

update()

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

inlineoverridevirtual

update update all constraints and references

Implements adore::fun::ANominalPlannerInformation.

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Member Data Documentation

lcv_

adore::view::ALaneChangeView* adore::fun::StdGapConstraintAndReference::lcv_

private

lfv_

adore::view::ALane* adore::fun::StdGapConstraintAndReference::lfv_

private

pgen_

const adore::params::APTrajectoryGeneration* adore::fun::StdGapConstraintAndReference::pgen_

private

ptac_

const adore::params::APTacticalPlanner* adore::fun::StdGapConstraintAndReference::ptac_

private

pveh_

const adore::params::APVehicle* adore::fun::StdGapConstraintAndReference::pveh_

private

s_

double adore::fun::StdGapConstraintAndReference::s_

private

s-coordinate to specify the gap

s_chase_t0_

double adore::fun::StdGapConstraintAndReference::s_chase_t0_

private

chase constraint position at t0

s_front_t0_

double adore::fun::StdGapConstraintAndReference::s_front_t0_

private

front constraint position at t0

s_lead_t0_

double adore::fun::StdGapConstraintAndReference::s_lead_t0_

private

lead constraint position at t0

t0_

double adore::fun::StdGapConstraintAndReference::t0_

private

last update time

v_chase_t0_

double adore::fun::StdGapConstraintAndReference::v_chase_t0_

private

chase constraint velocity at t0

v_front_t0_

double adore::fun::StdGapConstraintAndReference::v_front_t0_

private

front constraint velocity at t0

v_lead_t0_

double adore::fun::StdGapConstraintAndReference::v_lead_t0_

private

lead constraint velocity at t0

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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/lanechangeconstraintsandreferences.h