ap_lateral_planner.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Jan Lauermann - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
namespace adore
{
  namespace params
  {
    class APLateralPlanner
    {
      public:
      virtual double getWeightPos() const =0;
 
      virtual double getWeightVel() const =0;
 
      virtual double getWeightAcc() const =0;
 
      virtual double getWeightJerk() const =0;
      
      virtual double getWeightEndPos() const =0;
 
      virtual double getWeightEndVel() const =0;
 
      virtual double getWeightEndAcc() const =0;
 
      virtual double getSlackPos() const =0;
 
      virtual double getSlackVel() const =0;
      
      virtual double getSlackAcc() const =0;
 
      virtual double getAccLB() const=0;
 
      virtual double getAccUB() const=0;
 
      virtual double getJerkLB() const=0;
 
      virtual double getJerkUB() const=0;
 
      virtual double getCurvatureUB() const=0;
 
      virtual double getCurvatureLB() const=0;
 
      virtual double getRelativeHeadingUB() const=0;
 
      virtual double getRelativeHeadingLB() const=0;
 
      virtual double getMergeConstraintDelay() const=0;
 
      virtual double getHardSafetyDistanceToLaneBoundary() const=0;
 
      virtual double getSoftSafetyDistanceToLaneBoundary() const=0;
 
      virtual double getMinimumLateralControlSpace() const=0;
 
      virtual double getMaxCPUTime() const=0;
 
      virtual double getLateralGridScale() const=0;
      
    };
  }
}