adore::params::APLateralPlannerDummy Class Reference

a dummy implementation for testing purposes More...

#include <ap_lateral_planner_dummy.h>

Inheritance diagram for adore::params::APLateralPlannerDummy:

Collaboration diagram for adore::params::APLateralPlannerDummy:

Public Member Functions
virtual double	getWeightPos () const
	getWeightPos returns cost function weight for quadratic position error term More...
virtual double	getWeightVel () const
	getWeightVel returns cost function weight for quadratic velocity error term More...
virtual double	getWeightAcc () const
	getWeightAcc returns cost function weight for quadratic acceleration term More...
virtual double	getWeightJerk () const
	getWeightJerk returns cost function weight for quadratic jerk term More...
virtual double	getWeightEndPos () const
	getWeightEndPos returns cost function weight for quadratic position error term at end point More...
virtual double	getWeightEndVel () const
	getWeightEndVel returns cost function weight for quadratic velocity error term at end point More...
virtual double	getWeightEndAcc () const
	getWeightEndAcc returns cost function weight for quadratic acceleration term at end point More...
virtual double	getSlackPos () const
	getSlackPos returns maximum slack of soft-constraints for position More...
virtual double	getSlackVel () const
	getSlackVel returns maximum slack of soft-constraints for velocity More...
virtual double	getSlackAcc () const
	getSlackAcc returns maximum slack of soft-constraints for acceleration More...
virtual double	getAccLB () const
	getAccLB returns lateral acceleration lower bound More...
virtual double	getAccUB () const
	getAccUB returns lateral acceleration upper bound More...
virtual double	getJerkLB () const
	getJerkLB returns lateral jerk lower bound More...
virtual double	getJerkUB () const
	getJerkLB returns lateral jerk upper bound More...
virtual double	getCurvatureUB () const
	getCurvatureUB returns maximum curvature of path (relevant at low speeds) More...
virtual double	getCurvatureLB () const
	getCurvatureLB returns minimum curvature of path (relevant at low speeds) More...
virtual double	getRelativeHeadingUB () const
	getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system More...
virtual double	getRelativeHeadingLB () const
	getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system More...
virtual double	getMergeConstraintDelay () const
	getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated More...
virtual double	getMaxCPUTime () const
	getMaxCPUTime returns the maximum cpu time for one plan computation More...
Public Member Functions inherited from adore::params::APLateralPlanner
virtual double	getHardSafetyDistanceToLaneBoundary () const =0
	getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side More...
virtual double	getSoftSafetyDistanceToLaneBoundary () const =0
	getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side, which is enforced, if sufficient space is available More...
virtual double	getMinimumLateralControlSpace () const =0
	getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more space for lateral control, softSafetyDistanceToLaneBoundary is enforced More...
virtual double	getLateralGridScale () const =0
	getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver variations will plan for offsets {...,-2d,-d,0,d,2d,..} More...

Detailed Description

a dummy implementation for testing purposes

Member Function Documentation

getAccLB()

virtual double adore::params::APLateralPlannerDummy::getAccLB ( ) const

inlinevirtual

getAccLB returns lateral acceleration lower bound

Implements adore::params::APLateralPlanner.

getAccUB()

virtual double adore::params::APLateralPlannerDummy::getAccUB ( ) const

inlinevirtual

getAccUB returns lateral acceleration upper bound

Implements adore::params::APLateralPlanner.

getCurvatureLB()

virtual double adore::params::APLateralPlannerDummy::getCurvatureLB ( ) const

inlinevirtual

getCurvatureLB returns minimum curvature of path (relevant at low speeds)

Implements adore::params::APLateralPlanner.

getCurvatureUB()

virtual double adore::params::APLateralPlannerDummy::getCurvatureUB ( ) const

inlinevirtual

getCurvatureUB returns maximum curvature of path (relevant at low speeds)

Implements adore::params::APLateralPlanner.

getJerkLB()

virtual double adore::params::APLateralPlannerDummy::getJerkLB ( ) const

inlinevirtual

getJerkLB returns lateral jerk lower bound

Implements adore::params::APLateralPlanner.

getJerkUB()

virtual double adore::params::APLateralPlannerDummy::getJerkUB ( ) const

inlinevirtual

getJerkLB returns lateral jerk upper bound

Implements adore::params::APLateralPlanner.

getMaxCPUTime()

virtual double adore::params::APLateralPlannerDummy::getMaxCPUTime ( ) const

inlinevirtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implements adore::params::APLateralPlanner.

getMergeConstraintDelay()

virtual double adore::params::APLateralPlannerDummy::getMergeConstraintDelay ( ) const

inlinevirtual

getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated

Implements adore::params::APLateralPlanner.

getRelativeHeadingLB()

virtual double adore::params::APLateralPlannerDummy::getRelativeHeadingLB ( ) const

inlinevirtual

getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system

Implements adore::params::APLateralPlanner.

getRelativeHeadingUB()

virtual double adore::params::APLateralPlannerDummy::getRelativeHeadingUB ( ) const

inlinevirtual

getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system

Implements adore::params::APLateralPlanner.

getSlackAcc()

virtual double adore::params::APLateralPlannerDummy::getSlackAcc ( ) const

inlinevirtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implements adore::params::APLateralPlanner.

getSlackPos()

virtual double adore::params::APLateralPlannerDummy::getSlackPos ( ) const

inlinevirtual

getSlackPos returns maximum slack of soft-constraints for position

Implements adore::params::APLateralPlanner.

getSlackVel()

virtual double adore::params::APLateralPlannerDummy::getSlackVel ( ) const

inlinevirtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implements adore::params::APLateralPlanner.

getWeightAcc()

virtual double adore::params::APLateralPlannerDummy::getWeightAcc ( ) const

inlinevirtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implements adore::params::APLateralPlanner.

getWeightEndAcc()

virtual double adore::params::APLateralPlannerDummy::getWeightEndAcc ( ) const

inlinevirtual

getWeightEndAcc returns cost function weight for quadratic acceleration term at end point

Implements adore::params::APLateralPlanner.

getWeightEndPos()

virtual double adore::params::APLateralPlannerDummy::getWeightEndPos ( ) const

inlinevirtual

getWeightEndPos returns cost function weight for quadratic position error term at end point

Implements adore::params::APLateralPlanner.

getWeightEndVel()

virtual double adore::params::APLateralPlannerDummy::getWeightEndVel ( ) const

inlinevirtual

getWeightEndVel returns cost function weight for quadratic velocity error term at end point

Implements adore::params::APLateralPlanner.

getWeightJerk()

virtual double adore::params::APLateralPlannerDummy::getWeightJerk ( ) const

inlinevirtual

getWeightJerk returns cost function weight for quadratic jerk term

Implements adore::params::APLateralPlanner.

getWeightPos()

virtual double adore::params::APLateralPlannerDummy::getWeightPos ( ) const

inlinevirtual

getWeightPos returns cost function weight for quadratic position error term

Implements adore::params::APLateralPlanner.

getWeightVel()

virtual double adore::params::APLateralPlannerDummy::getWeightVel ( ) const

inlinevirtual

getWeightVel returns cost function weight for quadratic velocity error term

Implements adore::params::APLateralPlanner.

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

• /home/fascar/temp/adore/libadore/libadore/adore/params/include/adore/params/ap_lateral_planner_dummy.h