#include <basicmergeplanner.h>

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

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

Public Member Functions
	BasicMergePlanner (adore::view::ALaneChangeView lcv, adore::view::ANavigationGoalView goalview, adore::view::ALimitLineEnRoute controlledConnection, adore::view::ALimitLineEnRoute checkpoint, adore::params::APLongitudinalPlanner plon, adore::params::APLateralPlanner plat, adore::params::APTacticalPlanner ptac, adore::params::APVehicle pveh, adore::params::APTrajectoryGeneration *ptrajectory)

Public Member Functions inherited from adore::fun::DecoupledLFLCPlanner< K, P >
	DecoupledLFLCPlanner (adore::view::ALane lfv, adore::params::APLongitudinalPlanner aplon, adore::params::APLateralPlanner aplat, adore::params::APVehicle apvehicle, adore::params::APTrajectoryGeneration *aptrajectory)

void	setPlanningHorizon (double Tend)

double	getPlanningHorizon () const

TInformationSet &	getInformationSet ()

TProgressSolver &	getProgressSolver ()

TOffsetSolver &	getOffsetSolver ()

RoadCoordinateConverter &	getRoadCoordinateConverter ()

std::string	getStatus ()

virtual void	compute (const VehicleMotionState9d &initial_state) override

virtual bool	hasValidPlan () const override

virtual const SetPointRequest *	getSetPointRequest () const override

virtual double	getCPUTime () const override

Private Attributes
NominalReferenceSpeed	nominalReferenceSpeed_

BreakAtHorizon	breakAtHorizon_

CurvatureSpeedLimitPredict	curvatureSpeedLimit_

LFVSpeedLimit	lfvSpeedLimit_

DontDriveBackwards	dontDriveBackwards_

LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintUB_

LongitudinalAccelerationConstraint	longitudinalAccelerationConstraintLB_

StopAtNextGoalPoint	stopAtNextGoalPoint_

AdhereToNextLimitLine	stopAtRedLight_

AdhereToNextLimitLine	stopAtCheckPoint_

FollowPrecedingVehicle_BreakingCurve	followPrecedingVehicleOnSource_

FollowPrecedingVehicle_BreakingCurve	followPrecedingVehicleOnTarget_

LateralAccelerationReference	lateralAccelerationReference_

LateralJerkReference	lateralJerkReference_

HeadingConstraint	headingConstraintUB_

HeadingConstraint	headingConstraintLB_

LateralAccelerationConstraint	lateralAccelerationConstraintUB_

LateralAccelerationConstraint	lateralAccelerationConstraintLB_

LateralOffsetConstraintLM	lateralOffsetConstraint_left_

LateralOffsetConstraintLM	lateralOffsetConstraint_right_

FollowCenterlineReference	followCenterlineReference_

Additional Inherited Members
Public Types inherited from adore::fun::DecoupledLFLCPlanner< K, P >
typedef adore::mad::LQ_OC_single_shooting< N, R, K, P >	TProgressSolver

typedef adore::mad::LQ_OC_single_shooting< N, R, K, P >	TOffsetSolver

typedef NominalPlannerInformationSet< N+1, 2 >	TInformationSet

Static Public Attributes inherited from adore::fun::DecoupledLFLCPlanner< K, P >
static const int	N = 3

static const int	R = 1

Protected Attributes inherited from adore::fun::DecoupledLFLCPlanner< K, P >
TInformationSet	info_

Detailed Description

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

Plans merge maneuvers, which finalize a lane change. Specialization of DecoupledLFLCPlanner for merge maneuver planning. The merge planner uses the lateral reference of lane following, but the constraints of the lane change: When the view switches lanes in the middle of the lane change, the vehicle may thus enter the new center lane.

Constructor & Destructor Documentation

◆ BasicMergePlanner()

template<int K, int P>

adore::fun::BasicMergePlanner< K, P >::BasicMergePlanner	(	adore::view::ALaneChangeView *	lcv,
		adore::view::ANavigationGoalView *	goalview,
		adore::view::ALimitLineEnRoute *	controlledConnection,
		adore::view::ALimitLineEnRoute *	checkpoint,
		adore::params::APLongitudinalPlanner *	plon,
		adore::params::APLateralPlanner *	plat,
		adore::params::APTacticalPlanner *	ptac,
		adore::params::APVehicle *	pveh,
		adore::params::APTrajectoryGeneration *	ptrajectory
	)

inline

reference for vehicle lateral position Constructor. Initializes references and constraints by linking them to required data abstraction views and parameters.

Parameters

lcv	view for lane changing (determines direction of lane change, as well as source and target lane)
plon	longitudinal planning paramters
plat	lateral planning parameters
pveh	vehicle parameters
ptrajectory	trajectory generation parameters