adore::fun::BasicMRMPlanner< K, P > Class Template Reference

Plans minimum risk maneuvers on given lane. K number of control points for planning. P interpolation points per planning step. More...

#include <basicmrmplanner.h>

Inheritance diagram for adore::fun::BasicMRMPlanner< K, P >:

Collaboration diagram for adore::fun::BasicMRMPlanner< K, P >:

Public Member Functions
	BasicMRMPlanner (adore::view::ALane *lfv, adore::params::APLateralPlanner *plat, adore::params::APTacticalPlanner *ptac, adore::params::APVehicle *pveh, adore::params::APTrajectoryGeneration *ptrajectory, double lateral_i_grid=0.0)
void	addConstraint (ANominalConstraint *constraint)
void	addReference (ANominalReference *reference)
Public Member Functions inherited from adore::fun::MRMPlanner< K, P >
void	setJMax (double value)
void	setTStall (double value)
void	setAStall (double value)
void	setAMin (double value)
void	setSecondAttempt (bool value)
	MRMPlanner (adore::view::ALane *lfv, adore::params::APLateralPlanner *aplat, adore::params::APVehicle *apvehicle, adore::params::APTrajectoryGeneration *aptrajectory)
TPostProcessConstraints::TInformationSet &	getInformationSet ()
double	amin_medium_brake_trapezoidal (double v0, double a0, double jmin) const
	minimum acceleration that can be achieved before inverting jerk to end with v=0 and a=0 More...
void	t_short_brake_trapezoidal (double v0, double a0, double jmin, double t3)
	times required for ramp up during short brake More...
void	t_medium_brake_trapezoidal (double v0, double a0, double jmin, double &t1, double &t3) const
	times required for ramp down and ramp up during medium brake More...
void	t_long_brake_trapezoidal (double v0, double a0, double amin, double jmin, double &t1, double &t2, double &t3) const
	times required for ramp down, constant and ramp up during long brake More...
int	brake_case_trapezoidal (double v0, double a0, double amin, double jmin) const
void	brake_params_trapezoidal (double v0, double a0, double amin, double jmin, double &a1, double &t1, double &t2, double &t3)
	general parameters More...
double	a_brake_trapezoidal (double t, double a0, double a1, double jmin, double t1, double t2, double t3)
double	j_brake_trapezoidal (double t, double jmin, double t1, double t2, double t3)
virtual void	compute (const VehicleMotionState9d &initial_state)
TPartialPlan &	getLongitudinalPlan ()
TPartialPlan &	getLateralPlan ()
LateralPlanner< K, P > &	getOffsetSolver ()
virtual bool	hasValidPlan () const
virtual const SetPointRequest *	getSetPointRequest () const
virtual double	getCPUTime () const

Private Attributes
FollowCenterlineReference	followCenterlineReference_
LateralAccelerationReference	lateralAccelerationReference_
LateralJerkReference	lateralJerkReference_
LateralOffsetConstraintLF	lateralOffsetConstraintLFUB_
LateralOffsetConstraintLF	lateralOffsetConstraintLFLB_
HeadingConstraint	headingConstraintUB_
HeadingConstraint	headingConstraintLB_
LateralAccelerationConstraint	lateralAccelerationConstraintUB_
LateralAccelerationConstraint	lateralAccelerationConstraintLB_

Additional Inherited Members
Public Types inherited from adore::fun::MRMPlanner< K, P >
typedef adore::mad::LLinearPiecewiseFunctionM< double, N+R >	TPartialPlan
typedef InformationSetPostProcessing< 4, 2 >	TPostProcessConstraints
Static Public Attributes inherited from adore::fun::MRMPlanner< K, P >
static const int	N = 3
static const int	R = 1

Detailed Description

template<int K, int P>
class adore::fun::BasicMRMPlanner< K, P >

Plans minimum risk maneuvers on given lane. K number of control points for planning. P interpolation points per planning step.

Constructor & Destructor Documentation

BasicMRMPlanner()

template<int K, int P>

adore::fun::BasicMRMPlanner< K, P >::BasicMRMPlanner ( adore::view::ALane *  lfv, adore::params::APLateralPlanner *  plat, adore::params::APTacticalPlanner *  ptac, adore::params::APVehicle *  pveh, adore::params::APTrajectoryGeneration *  ptrajectory, double  lateral_i_grid = 0.0  )

inline

Constructor. Initializes references and constraints by linking them to required data abstraction views and parameters.

Parameters

lfv	view for lane following
plat	lateral planning parameters
pveh	vehicle parameters
ptrajectory	trajectory generation parameters
lateral_i_grid	offset variation

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Member Function Documentation

addConstraint()

template<int K, int P>

void adore::fun::BasicMRMPlanner< K, P >::addConstraint ( ANominalConstraint *  constraint )

inline

addReference()

template<int K, int P>

void adore::fun::BasicMRMPlanner< K, P >::addReference ( ANominalReference *  reference )

inline

Member Data Documentation

followCenterlineReference_

template<int K, int P>

FollowCenterlineReference adore::fun::BasicMRMPlanner< K, P >::followCenterlineReference_

private

reference for lateral position: follow the middle of the lane

headingConstraintLB_

template<int K, int P>

HeadingConstraint adore::fun::BasicMRMPlanner< K, P >::headingConstraintLB_

private

constraint for deviation from road direction

headingConstraintUB_

template<int K, int P>

HeadingConstraint adore::fun::BasicMRMPlanner< K, P >::headingConstraintUB_

private

constraint for deviation from road direction

lateralAccelerationConstraintLB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::BasicMRMPlanner< K, P >::lateralAccelerationConstraintLB_

private

constraint for ay

lateralAccelerationConstraintUB_

template<int K, int P>

LateralAccelerationConstraint adore::fun::BasicMRMPlanner< K, P >::lateralAccelerationConstraintUB_

private

constraint for ay

lateralAccelerationReference_

template<int K, int P>

LateralAccelerationReference adore::fun::BasicMRMPlanner< K, P >::lateralAccelerationReference_

private

curvature compensation

lateralJerkReference_

template<int K, int P>

LateralJerkReference adore::fun::BasicMRMPlanner< K, P >::lateralJerkReference_

private

lateral jerk compensation

lateralOffsetConstraintLFLB_

template<int K, int P>

LateralOffsetConstraintLF adore::fun::BasicMRMPlanner< K, P >::lateralOffsetConstraintLFLB_

private

lateral position bounds governed by lane boundaries

lateralOffsetConstraintLFUB_

template<int K, int P>

LateralOffsetConstraintLF adore::fun::BasicMRMPlanner< K, P >::lateralOffsetConstraintLFUB_

private

lateral position bounds governed by lane boundaries

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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/fun/include/adore/fun/tac/basicmrmplanner.h