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

#include <lanefollowinggeometry.h>

Collaboration diagram for adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >:

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

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

void	update (BorderSet borderSet, BorderTrace borderTrace, BorderCostMap borderCost, Border start, adore::env::VehicleMotionState9d *ego, double lookahead_distance, double lookbehind_distance, double smoothness=0.05, bool activate_navigation=false)
	update the road geometry More...

bool	computeNavigationCost (bool activate_navigation, BorderCostMap *borderCostMap)

void	excludeObstaclePoint (double X, double Y, double s_min, double s_safety, double n_safety, double s_off=0.0)
	Modify a lane boundary to exclude a given point. More...

BorderAccumulator *	getRightBorders ()
	Get the right borders of the LaneFollowingGeometry. More...

BorderAccumulator *	getLeftBorders ()
	Get the left borders of the LaneFollowingGeometry. More...

Border *	getBestMatchingBorder (double X, double Y, double max_deviation)
	Get the best matching border for a given ego position. More...

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

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

double	getSMax () const

double	getSMin () const

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...

function_type_xyz *	getCenterline ()
	Get the centerline of the lane. More...

function_type2d *	getCenterlineNormal ()
	Get the Centerline Normal object. More...

double	getCurvature (double s, int derivative)
	Get the curvature of the lane at a certain position. More...

BAContainer::iterator	begin ()
	Get the begin()-iterator of the BAContainer of the right borders. More...

BAContainer::iterator	end ()
	Get the end()-iterator of the BAContainer of the right borders. More...

double	getHeading (double s)
	Get the heading at a certain position. More...

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

function_type_scalar *	getOffsetOfLeftBorderFct ()
	Get the function that holds the offset of left borders. More...

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

function_type_scalar *	getOffsetOfRightBorderFct ()
	Get the function that holds the offset of right borders. More...

function_type_xyz *	getLeftBorderFct ()

function_type_xyz *	getRightBorderFct ()

void	toRelativeCoordinates (double Xg, double Yg, double &s, double &n)
	Transform from euclidian to relative coordinates. More...

void	toEucledianCoordinates (double s, double n, double &Xg, double &Yg, double &Zg)
	Transform from relative to euclidian coordinates. More...

Public Attributes
velocity_profile	m_velocity_fct

function_type_xyz	m_leftBorder_fct

function_type_xyz	m_rightBorder_fct

function_type_xyz	m_centerRaw_fct

function_type_xyz	m_centerSmoothed_fct

function_type_xyz	m_centerSmoothedDerivative1_fct

function_type_xyz	m_centerSmoothedDerivative2_fct

function_type2d	m_centerNormal_fct

function_type_scalar	m_centerHeading_fct

function_type_scalar	m_centerSmoothedCurvature_fct

function_type_scalar	m_centerSmoothedCurvatureDerivative_fct

function_type_scalar	m_leftDistance_fct

function_type_scalar	m_rightDistance_fct

function_type_scalar	m_navigationCost_fct

double	m_planning_time

double	m_s_min

double	m_s_max

bool	m_view_valid

double	m_min_view_distance

BorderAccumulator	m_rightBorders

BorderAccumulator	m_leftBorders

int	m_startIndexInRightBorders

Border *	m_start

int	m_egoBorderIndex

double	m_s_lane_width_open

double	m_s_lane_width_closed

double	m_vehicle_width

double	Sbuf [PolyEvaluatePoints]

double	Xbuf [PolyEvaluatePoints]

double	Ybuf [PolyEvaluatePoints]

double	nXbuf [PolyEvaluatePoints]

double	nYbuf [PolyEvaluatePoints]

double	dXbuf [PolyEvaluatePoints]

double	dYbuf [PolyEvaluatePoints]

double	ddXbuf [PolyEvaluatePoints]

double	ddYbuf [PolyEvaluatePoints]

double	dddXbuf [PolyEvaluatePoints]

double	dddYbuf [PolyEvaluatePoints]

Detailed Description

template<int PolyFitPoints, int PolyEvaluatePoints>
class adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >

A class with a geometry description of the current lane.

Member Typedef Documentation

◆ function_type2d

template<int PolyFitPoints, int PolyEvaluatePoints>

using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type2d = adore::mad::function_type2d

◆ function_type_scalar

template<int PolyFitPoints, int PolyEvaluatePoints>

using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type_scalar = adore::mad::function_type_scalar

◆ function_type_xyz

template<int PolyFitPoints, int PolyEvaluatePoints>

using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::function_type_xyz = adore::mad::function_type_xyz

◆ velocity_profile

template<int PolyFitPoints, int PolyEvaluatePoints>

using adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::velocity_profile = function_type_scalar

Constructor & Destructor Documentation

◆ LaneFollowingGeometry()

template<int PolyFitPoints, int PolyEvaluatePoints>

adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::LaneFollowingGeometry ( )

inline

Construct a new LaneFollowingGeometry object.

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Member Function Documentation

◆ begin()

template<int PolyFitPoints, int PolyEvaluatePoints>

BAContainer::iterator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::begin ( )

inline

Get the begin()-iterator of the BAContainer of the right borders.

Returns: BAContainer::iterator begin()-iterator

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◆ computeNavigationCost()

template<int PolyFitPoints, int PolyEvaluatePoints>

bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::computeNavigationCost	(	bool	activate_navigation,
		BorderCostMap *	borderCostMap
	)

inline

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◆ end()

template<int PolyFitPoints, int PolyEvaluatePoints>

BAContainer::iterator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::end ( )

inline

Get the end()-iterator of the BAContainer of the right borders.

Returns: BAContainer::iterator end()-iterator

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◆ excludeObstaclePoint()

template<int PolyFitPoints, int PolyEvaluatePoints>

void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::excludeObstaclePoint	(	double	X,
		double	Y,
		double	s_min,
		double	s_safety,
		double	n_safety,
		double	s_off = `0.0`
	)

inline

Modify a lane boundary to exclude a given point.

Modifies left or right lane boundary in such a way that the specified point no longer resides inside the lane after the operation. The lane boundary with minimum distance to the point is chosen for modification.

Parameters

X	x-coordinate of the point to exclude
Y	y-coordinate of the point to exclude
s_min
s_safety
n_safety
s_off

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◆ getBestMatchingBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>

Border* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getBestMatchingBorder	(	double	X,
		double	Y,
		double	max_deviation
	)

inline

Get the best matching border for a given ego position.

Parameters

max_deviation if a point located max_deviation from X,Y is inside lfg, a match can be found

Returns: nullptr if no match can be found, otherwise border pointer

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◆ getCenterline()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCenterline ( )

inline

Get the centerline of the lane.

Returns: function_type_xyz* centerline of the lane

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◆ getCenterlineNormal()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type2d* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCenterlineNormal ( )

inline

Get the Centerline Normal object.

Returns: function_type2d*

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◆ getCurvature()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getCurvature	(	double	s,
		int	derivative
	)

inline

Get the curvature of the lane at a certain position.

Parameters

s	s-coordinate of the position
derivative	which derivative of the curvature should be evaluated

Returns: double resulting curvature at the evaluated position

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◆ getHeading()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getHeading ( double s )

inline

Get the heading at a certain position.

Parameters

s	s-coordinate of the position

Returns: double heading at the position given position

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◆ getLeftBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getLeftBorderFct ( )

inline

◆ getLeftBorders()

template<int PolyFitPoints, int PolyEvaluatePoints>

BorderAccumulator* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getLeftBorders ( )

inline

Get the left borders of the LaneFollowingGeometry.

Returns: BorderAccumulator* BorderAccumulator that holds the left borders

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◆ getOffsetOfLeftBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::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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◆ getOffsetOfLeftBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfLeftBorderFct ( )

inline

Get the function that holds the offset of left borders.

Returns: function_type_scalar* function that holds the offset of left borders

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◆ getOffsetOfRightBorder()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::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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◆ getOffsetOfRightBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getOffsetOfRightBorderFct ( )

inline

Get the function that holds the offset of right borders.

Returns: function_type_scalar* function that holds the offset of right borders

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◆ getProgressOfWidthClosed()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::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()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::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

◆ getRightBorderFct()

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getRightBorderFct ( )

inline

◆ getRightBorders()

template<int PolyFitPoints, int PolyEvaluatePoints>

BorderAccumulator* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getRightBorders ( )

inline

Get the right borders of the LaneFollowingGeometry.

Returns: BorderAccumulator* BorderAccumulator that holds the right borders

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◆ getSMax()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getSMax ( ) const

inline

◆ getSMin()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getSMin ( ) const

inline

◆ getViewingDistance()

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::getViewingDistance ( ) const

inline

Get the viewing distance.

Returns: double viewing distance

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◆ isValid()

template<int PolyFitPoints, int PolyEvaluatePoints>

bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::isValid ( ) const

inline

Check whether the LaneFollowingGeometry is valid.

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

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◆ toEucledianCoordinates()

template<int PolyFitPoints, int PolyEvaluatePoints>

void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::toEucledianCoordinates	(	double	s,
		double	n,
		double &	Xg,
		double &	Yg,
		double &	Zg
	)

inline

Transform from relative to euclidian coordinates.

Parameters

s	relative s-coordinate
n	relative n-coordinate
Xg	euclidian x-coordinate
Yg	euclidian y-coordinate
Zg	euclidian z-coordinate

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◆ toRelativeCoordinates()

template<int PolyFitPoints, int PolyEvaluatePoints>

void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::toRelativeCoordinates	(	double	Xg,
		double	Yg,
		double &	s,
		double &	n
	)

inline

Transform from euclidian to relative coordinates.

Parameters

Xg	euclidian x-coordinate
Yg	euclidian y-coordinate
s	relative s-coordinate
n	relative n-coordinate

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◆ update()

template<int PolyFitPoints, int PolyEvaluatePoints>

void adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::update	(	BorderSet *	borderSet,
		BorderTrace *	borderTrace,
		BorderCostMap *	borderCost,
		Border *	start,
		adore::env::VehicleMotionState9d *	ego,
		double	lookahead_distance,
		double	lookbehind_distance,
		double	smoothness = `0.05`,
		bool	activate_navigation = `false`
	)

inline

update the road geometry

The chosen BorderAccumulationStrategy is BASFollowStraight by default

Parameters

borderSet	set of all borders
borderTrace	set of historical borders
borderCost	navigation cost
start	start/matched border
ego	ego state
lookahead_distance	how far to look in driving direction
lookbehind_distance	how far to look behind. Note: this parameter requires a borderTrace length of at least equal value
smoothness	smoothing value for polynom fit
activate_navigation	flag whether navigation is activated (default: false)

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Member Data Documentation

◆ dddXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dddXbuf[PolyEvaluatePoints]

◆ dddYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dddYbuf[PolyEvaluatePoints]

◆ ddXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::ddXbuf[PolyEvaluatePoints]

◆ ddYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::ddYbuf[PolyEvaluatePoints]

◆ dXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dXbuf[PolyEvaluatePoints]

◆ dYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::dYbuf[PolyEvaluatePoints]

◆ m_centerHeading_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerHeading_fct

◆ m_centerNormal_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type2d adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerNormal_fct

◆ m_centerRaw_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerRaw_fct

function: s-coordinate -> euclidian coordinates for raw centerline

◆ m_centerSmoothed_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothed_fct

function: s-coordinate -> euclidian coordinates for smoothed centerline

◆ m_centerSmoothedCurvature_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedCurvature_fct

◆ m_centerSmoothedCurvatureDerivative_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedCurvatureDerivative_fct

◆ m_centerSmoothedDerivative1_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedDerivative1_fct

◆ m_centerSmoothedDerivative2_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_centerSmoothedDerivative2_fct

◆ m_egoBorderIndex

template<int PolyFitPoints, int PolyEvaluatePoints>

int adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_egoBorderIndex

◆ m_leftBorder_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftBorder_fct

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

◆ m_leftBorders

template<int PolyFitPoints, int PolyEvaluatePoints>

BorderAccumulator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftBorders

◆ m_leftDistance_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_leftDistance_fct

function: s-coordinate -> distance to left border

◆ m_min_view_distance

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_min_view_distance

◆ m_navigationCost_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_navigationCost_fct

function: s-coordinate -> distance to goal

◆ m_planning_time

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_planning_time

◆ m_rightBorder_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_xyz adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightBorder_fct

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

◆ m_rightBorders

template<int PolyFitPoints, int PolyEvaluatePoints>

BorderAccumulator adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightBorders

◆ m_rightDistance_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

function_type_scalar adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_rightDistance_fct

function: s-coordinate -> distance to right border

◆ m_s_lane_width_closed

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_lane_width_closed

◆ m_s_lane_width_open

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_lane_width_open

◆ m_s_max

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_max

s-coordinate of viewing horizon end

◆ m_s_min

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_s_min

s-coordinate of viewing horizon start

◆ m_start

template<int PolyFitPoints, int PolyEvaluatePoints>

Border* adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_start

◆ m_startIndexInRightBorders

template<int PolyFitPoints, int PolyEvaluatePoints>

int adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_startIndexInRightBorders

◆ m_vehicle_width

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_vehicle_width

ego vehicle width

◆ m_velocity_fct

template<int PolyFitPoints, int PolyEvaluatePoints>

velocity_profile adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_velocity_fct

◆ m_view_valid

template<int PolyFitPoints, int PolyEvaluatePoints>

bool adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::m_view_valid

indicate whether view is valid

◆ nXbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::nXbuf[PolyEvaluatePoints]

◆ nYbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::nYbuf[PolyEvaluatePoints]

◆ Sbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Sbuf[PolyEvaluatePoints]

◆ Xbuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Xbuf[PolyEvaluatePoints]

◆ Ybuf

template<int PolyFitPoints, int PolyEvaluatePoints>

double adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >::Ybuf[PolyEvaluatePoints]

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/lanefollowinggeometry.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<int PolyFitPoints, int PolyEvaluatePoints> class adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >

Member Typedef Documentation

◆ function_type2d

◆ function_type_scalar

◆ function_type_xyz

◆ velocity_profile

Constructor & Destructor Documentation

◆ LaneFollowingGeometry()

Member Function Documentation

◆ begin()

◆ computeNavigationCost()

◆ end()

◆ excludeObstaclePoint()

◆ getBestMatchingBorder()

◆ getCenterline()

◆ getCenterlineNormal()

◆ getCurvature()

◆ getHeading()

◆ getLeftBorderFct()

◆ getLeftBorders()

◆ getOffsetOfLeftBorder()

◆ getOffsetOfLeftBorderFct()

◆ getOffsetOfRightBorder()

◆ getOffsetOfRightBorderFct()

◆ getProgressOfWidthClosed()

◆ getProgressOfWidthOpen()

◆ getRightBorderFct()

◆ getRightBorders()

◆ getSMax()

◆ getSMin()

◆ getViewingDistance()

◆ isValid()

◆ toEucledianCoordinates()

◆ toRelativeCoordinates()

◆ update()

Member Data Documentation

◆ dddXbuf

◆ dddYbuf

◆ ddXbuf

◆ ddYbuf

◆ dXbuf

◆ dYbuf

◆ m_centerHeading_fct

◆ m_centerNormal_fct

◆ m_centerRaw_fct

◆ m_centerSmoothed_fct

◆ m_centerSmoothedCurvature_fct

◆ m_centerSmoothedCurvatureDerivative_fct

◆ m_centerSmoothedDerivative1_fct

◆ m_centerSmoothedDerivative2_fct

◆ m_egoBorderIndex

◆ m_leftBorder_fct

◆ m_leftBorders

◆ m_leftDistance_fct

◆ m_min_view_distance

◆ m_navigationCost_fct

◆ m_planning_time

◆ m_rightBorder_fct

◆ m_rightBorders

◆ m_rightDistance_fct

◆ m_s_lane_width_closed

◆ m_s_lane_width_open

◆ m_s_max

◆ m_s_min

◆ m_start

◆ m_startIndexInRightBorders

◆ m_vehicle_width

◆ m_velocity_fct

◆ m_view_valid

◆ nXbuf

◆ nYbuf

◆ Sbuf

◆ Xbuf

◆ Ybuf

template<int PolyFitPoints, int PolyEvaluatePoints>
class adore::env::BorderBased::LaneFollowingGeometry< PolyFitPoints, PolyEvaluatePoints >