#include <basicconstraintsandreferences.h>
CurvatureSpeedLimit - limit speed during longitudinal planning in order to gain bounded lateral acceleration in curve |ds(t)^2 * kappa(s(t))| < ay_max
◆ CurvatureSpeedLimit()
◆ getDerivative()
virtual int adore::fun::CurvatureSpeedLimit::getDerivative |
( |
| ) |
|
|
inlineoverridevirtual |
Determine for which derivative of given dimension this constraint is responsible.
- Returns
- applicable to which state derivative
Implements adore::fun::ANominalConstraint.
◆ getDimension()
virtual int adore::fun::CurvatureSpeedLimit::getDimension |
( |
| ) |
|
|
inlineoverridevirtual |
Determine for which dimension this constraint is responsible (e.g. longitudinal, lateral, etc.)
- Returns
- applicable to which dimension, depends on setup of planner
Implements adore::fun::ANominalConstraint.
◆ getDirection()
◆ getValue()
virtual double adore::fun::CurvatureSpeedLimit::getValue |
( |
double |
t, |
|
|
double |
s, |
|
|
double |
ds |
|
) |
| const |
|
inlineoverridevirtual |
return the value of the constraint at a certain time and position
- Parameters
-
t | the time |
s | progress along the road-relative coordinate system |
ds | derivative of s |
- Returns
- value of the constraint (e.g. vmax for a speed limit)
Implements adore::fun::ANominalConstraint.
◆ update()
virtual void adore::fun::CurvatureSpeedLimit::update |
( |
double |
t0, |
|
|
double |
s0, |
|
|
double |
ds0 |
|
) |
| |
|
inlineoverridevirtual |
Refresh values of the constraint object. Allows parameters and precomputations to buffered for one planning cycle.
- Parameters
-
t0 | start time for planning |
s0 | start progress in road-relative coordinate system |
ds0 | derivative of s at t0 |
Implements adore::fun::ANominalConstraint.
◆ lfv_
◆ lon_ayub_
double adore::fun::CurvatureSpeedLimit::lon_ayub_ |
|
private |
◆ plon_
◆ vmin_ay_
double adore::fun::CurvatureSpeedLimit::vmin_ay_ |
|
private |
The documentation for this class was generated from the following file: