A class with a geometry description of a lane next to the current lane. More...

#include <lanechangegeometry.h>

Collaboration diagram for adore::env::BorderBased::LaneChangeGeometry:

Public Types
using	function_type_xyz = adore::mad::function_type_xyz

using	function_type2d = adore::mad::function_type2d

using	function_type_scalar = adore::mad::function_type_scalar

using	velocity_profile = function_type_scalar

typedef std::unordered_set< BorderBased::Node *, BorderBased::NodeHasher >	TBorderSubSet

Public Member Functions
	LaneChangeGeometry ()
	Construct a new LaneChangeGeometry object. More...

bool	isValid () const
	Check whether the LaneChangeGeometry is valid. More...

void	clearGeometry ()
	Clear the LaneChangeGeometry. More...

template<int lfg_a, int lfg_b>
void	update (LaneFollowingGeometry< lfg_a, lfg_b > lfg, BorderSet borderSet, adore::env::VehicleMotionState9d *ego, int lfg_adjacency_i_start, adore::view::ALaneChangeView::direction direction, double review_distance, double preview_distance, double adjacency_lower_limit=0.0)
	update the road geometry More...

BorderSubSet *	getInnerBorders ()
	Get the sequence of inner Borders. More...

BorderSubSet *	getOuterBorders ()
	Get the sequence of outer Borders. More...

BorderSubSet *	getLeftBorders ()
	Get the sequence of inner Borders. More...

BorderSubSet *	getRightBorders ()
	Get the sequence of inner Borders. More...

double	getViewingDistance () const
	Get the viewing distance. More...

adore::view::ALaneChangeView::direction	getLCDirection () const
	Get the direction of the LaneChangeGeometry. More...

double	getProgressOfWidthOpen () const
	Get the s-coordinate where the lane reaches the required width. More...

double	getProgressOfWidthClosed () const
	Get the s-coordinate where the lane stops to have the required width. More...

double	getOffsetOfLeftBorder (double s)
	Get the offset of the left border at a certain position. More...

double	getOffsetOfRightBorder (double s)
	Get the offset of the right border at a certain position. More...

double	getOffsetOfCenterBorder (double s)
	Get the offset of the center border at a certain position. More...

double	getProgressOfGateOpen () const
	Get the s-coordinate where the lane starts to be in direct adjacency to the LaneFollowingGeometry whithout a barrier. More...

double	getProgressOfGateClosed () const
	Get the s-coordinate where the lane ends to be in direct adjacency to the LaneFollowingGeometry whithout a barrier. More...

Public Attributes
function_type_xyz	m_leftBorder_fct

function_type_xyz	m_rightBorder_fct

function_type_xyz	m_centerBorder_fct

function_type_xyz	m_reference_fct

function_type_scalar	m_leftBorderDistance_fct

function_type_scalar	m_rightBorderDistance_fct

function_type_scalar	m_centerBorderDistance_fct

double	m_s_lane_width_open

double	m_s_lane_width_closed

double	m_s_viewing_distance

int	m_lfg_adjacency_i0

int	m_lfg_adjacency_i1

double	m_adjacency_s0

double	m_adjacency_s1

Border *	m_lfg_adjacency_b0

Border *	m_lfg_adjacency_b1

BorderBased::Node *	m_lfg_adjacency_bn0

BorderBased::Node *	m_lfg_adjacency_bn1

TBorderSubSet	m_borderSubSet

BorderBased::BAContainer	m_borderSequence

BorderBased::BAContainer	m_innerBorderSequence

adore::view::ALaneChangeView::direction	m_direction

double	m_vehicle_width

bool	m_view_valid

Detailed Description

A class with a geometry description of a lane next to the current lane.

Member Typedef Documentation

◆ function_type2d

using adore::env::BorderBased::LaneChangeGeometry::function_type2d = adore::mad::function_type2d

◆ function_type_scalar

using adore::env::BorderBased::LaneChangeGeometry::function_type_scalar = adore::mad::function_type_scalar

◆ function_type_xyz

using adore::env::BorderBased::LaneChangeGeometry::function_type_xyz = adore::mad::function_type_xyz

◆ TBorderSubSet

typedef std::unordered_set<BorderBased::Node *, BorderBased::NodeHasher> adore::env::BorderBased::LaneChangeGeometry::TBorderSubSet

◆ velocity_profile

using adore::env::BorderBased::LaneChangeGeometry::velocity_profile = function_type_scalar

Constructor & Destructor Documentation

◆ LaneChangeGeometry()

adore::env::BorderBased::LaneChangeGeometry::LaneChangeGeometry ( )

inline

Construct a new LaneChangeGeometry object.

Member Function Documentation

◆ clearGeometry()

void adore::env::BorderBased::LaneChangeGeometry::clearGeometry ( )

inline

Clear the LaneChangeGeometry.

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◆ getInnerBorders()

BorderSubSet* adore::env::BorderBased::LaneChangeGeometry::getInnerBorders ( )

inline

Get the sequence of inner Borders.

Returns: BAContainer*

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◆ getLCDirection()

adore::view::ALaneChangeView::direction adore::env::BorderBased::LaneChangeGeometry::getLCDirection ( ) const

inline

Get the direction of the LaneChangeGeometry.

Returns: adore::view::ALaneChangeView::direction direction of the LaneChangeGeometry

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◆ getLeftBorders()

BorderSubSet* adore::env::BorderBased::LaneChangeGeometry::getLeftBorders ( )

inline

Get the sequence of inner Borders.

Returns: BAContainer*

◆ getOffsetOfCenterBorder()

double adore::env::BorderBased::LaneChangeGeometry::getOffsetOfCenterBorder ( double s )

inline

Get the offset of the center border at a certain position.

Parameters

s	s-coordinate of the position

Returns: double offset of the center border at the given position

◆ getOffsetOfLeftBorder()

double adore::env::BorderBased::LaneChangeGeometry::getOffsetOfLeftBorder ( double s )

inline

Get the offset of the left border at a certain position.

Parameters

s	s-coordinate of the position

Returns: double offset of the left border at the given position

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◆ getOffsetOfRightBorder()

double adore::env::BorderBased::LaneChangeGeometry::getOffsetOfRightBorder ( double s )

inline

Get the offset of the right border at a certain position.

Parameters

s	s-coordinate of the position

Returns: double offset of the right border at the given position

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◆ getOuterBorders()

BorderSubSet* adore::env::BorderBased::LaneChangeGeometry::getOuterBorders ( )

inline

Get the sequence of outer Borders.

Returns: BAContainer*

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◆ getProgressOfGateClosed()

double adore::env::BorderBased::LaneChangeGeometry::getProgressOfGateClosed ( ) const

inline

Get the s-coordinate where the lane ends to be in direct adjacency to the LaneFollowingGeometry whithout a barrier.

Returns: double s-coordinate where the direct adjacency ends

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◆ getProgressOfGateOpen()

double adore::env::BorderBased::LaneChangeGeometry::getProgressOfGateOpen ( ) const

inline

Get the s-coordinate where the lane starts to be in direct adjacency to the LaneFollowingGeometry whithout a barrier.

Returns: double s-coordinate where the direct adjacency starts

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◆ getProgressOfWidthClosed()

double adore::env::BorderBased::LaneChangeGeometry::getProgressOfWidthClosed ( ) const

inline

Get the s-coordinate where the lane stops to have the required width.

Returns: double s-coordinate of the position where the lane ends to have at least the required width

◆ getProgressOfWidthOpen()

double adore::env::BorderBased::LaneChangeGeometry::getProgressOfWidthOpen ( ) const

inline

Get the s-coordinate where the lane reaches the required width.

Returns: double s-coordinate of the position where the lane starts to have at least the required width

◆ getRightBorders()

BorderSubSet* adore::env::BorderBased::LaneChangeGeometry::getRightBorders ( )

inline

Get the sequence of inner Borders.

Returns: BAContainer*

◆ getViewingDistance()

double adore::env::BorderBased::LaneChangeGeometry::getViewingDistance ( ) const

inline

Get the viewing distance.

Returns: double viewing distance

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◆ isValid()

bool adore::env::BorderBased::LaneChangeGeometry::isValid ( ) const

inline

Check whether the LaneChangeGeometry is valid.

Returns: true if the LaneChangeGeometry is valid; false if the LaneChangeGeometry is invalid

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◆ update()

template<int lfg_a, int lfg_b>

void adore::env::BorderBased::LaneChangeGeometry::update	(	LaneFollowingGeometry< lfg_a, lfg_b > *	lfg,
		BorderSet *	borderSet,
		adore::env::VehicleMotionState9d *	ego,
		int	lfg_adjacency_i_start,
		adore::view::ALaneChangeView::direction	direction,
		double	review_distance,
		double	preview_distance,
		double	adjacency_lower_limit = `0.0`
	)

inline

update the road geometry

Parameters

lfg	associated LaneFollowingGeometry
borderSet	set of all borders
ego	ego state
lfg_adjacency_i_start
direction	direction of the LaneChangeGeometry
review_distance	how far to look backwards
preview_distance	how far to look forwards
adjacency_lower_limit

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Member Data Documentation

◆ m_adjacency_s0

double adore::env::BorderBased::LaneChangeGeometry::m_adjacency_s0

◆ m_adjacency_s1

double adore::env::BorderBased::LaneChangeGeometry::m_adjacency_s1

◆ m_borderSequence

BorderBased::BAContainer adore::env::BorderBased::LaneChangeGeometry::m_borderSequence

◆ m_borderSubSet

TBorderSubSet adore::env::BorderBased::LaneChangeGeometry::m_borderSubSet

◆ m_centerBorder_fct

function_type_xyz adore::env::BorderBased::LaneChangeGeometry::m_centerBorder_fct

function: s-coordinate -> euclidian coordinates for center borders

◆ m_centerBorderDistance_fct

function_type_scalar adore::env::BorderBased::LaneChangeGeometry::m_centerBorderDistance_fct

function: s-coordinate -> distance to center border

◆ m_direction

adore::view::ALaneChangeView::direction adore::env::BorderBased::LaneChangeGeometry::m_direction

direction of lane change view

◆ m_innerBorderSequence

BorderBased::BAContainer adore::env::BorderBased::LaneChangeGeometry::m_innerBorderSequence

◆ m_leftBorder_fct

function_type_xyz adore::env::BorderBased::LaneChangeGeometry::m_leftBorder_fct

function: s-coordinate -> euclidian coordinates for left borders

◆ m_leftBorderDistance_fct

function_type_scalar adore::env::BorderBased::LaneChangeGeometry::m_leftBorderDistance_fct

function: s-coordinate -> distance to left border

◆ m_lfg_adjacency_b0

Border* adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_b0

◆ m_lfg_adjacency_b1

Border* adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_b1

◆ m_lfg_adjacency_bn0

BorderBased::Node* adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_bn0

◆ m_lfg_adjacency_bn1

BorderBased::Node* adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_bn1

◆ m_lfg_adjacency_i0

int adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_i0

◆ m_lfg_adjacency_i1

int adore::env::BorderBased::LaneChangeGeometry::m_lfg_adjacency_i1

◆ m_reference_fct

function_type_xyz adore::env::BorderBased::LaneChangeGeometry::m_reference_fct

◆ m_rightBorder_fct

function_type_xyz adore::env::BorderBased::LaneChangeGeometry::m_rightBorder_fct

function: s-coordinate -> euclidian coordinates for right borders

◆ m_rightBorderDistance_fct

function_type_scalar adore::env::BorderBased::LaneChangeGeometry::m_rightBorderDistance_fct

function: s-coordinate -> distance to right border

◆ m_s_lane_width_closed

double adore::env::BorderBased::LaneChangeGeometry::m_s_lane_width_closed

s-coordinate where lane ends to have the required width

◆ m_s_lane_width_open

double adore::env::BorderBased::LaneChangeGeometry::m_s_lane_width_open

s-coordinate where lane starts to have the required width for driving on that lane

◆ m_s_viewing_distance

double adore::env::BorderBased::LaneChangeGeometry::m_s_viewing_distance

s-coordinate of the end of the viewing horizon

◆ m_vehicle_width

double adore::env::BorderBased::LaneChangeGeometry::m_vehicle_width

ego vehicle width

◆ m_view_valid

bool adore::env::BorderBased::LaneChangeGeometry::m_view_valid

flag whether view is valid

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

/home/akoerner/repos/csa/github.com/akoerner1/adore_docs_publish/adore/libadore/libadore/adore/env/include/adore/env/borderbased/lanechangegeometry.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ function_type2d

◆ function_type_scalar

◆ function_type_xyz

◆ TBorderSubSet

◆ velocity_profile

Constructor & Destructor Documentation

◆ LaneChangeGeometry()

Member Function Documentation

◆ clearGeometry()

◆ getInnerBorders()

◆ getLCDirection()

◆ getLeftBorders()

◆ getOffsetOfCenterBorder()

◆ getOffsetOfLeftBorder()

◆ getOffsetOfRightBorder()

◆ getOuterBorders()

◆ getProgressOfGateClosed()

◆ getProgressOfGateOpen()

◆ getProgressOfWidthClosed()

◆ getProgressOfWidthOpen()

◆ getRightBorders()

◆ getViewingDistance()

◆ isValid()

◆ update()

Member Data Documentation

◆ m_adjacency_s0

◆ m_adjacency_s1

◆ m_borderSequence

◆ m_borderSubSet

◆ m_centerBorder_fct

◆ m_centerBorderDistance_fct

◆ m_direction

◆ m_innerBorderSequence

◆ m_leftBorder_fct

◆ m_leftBorderDistance_fct

◆ m_lfg_adjacency_b0

◆ m_lfg_adjacency_b1

◆ m_lfg_adjacency_bn0

◆ m_lfg_adjacency_bn1

◆ m_lfg_adjacency_i0

◆ m_lfg_adjacency_i1

◆ m_reference_fct

◆ m_rightBorder_fct

◆ m_rightBorderDistance_fct

◆ m_s_lane_width_closed

◆ m_s_lane_width_open

◆ m_s_viewing_distance

◆ m_vehicle_width

◆ m_view_valid