adore::fun::LFVSpeedLimit Class Reference

#include <basicconstraintsandreferences.h>

Inheritance diagram for adore::fun::LFVSpeedLimit:

Collaboration diagram for adore::fun::LFVSpeedLimit:

Public Member Functions
	LFVSpeedLimit (adore::view::ALane *lfv, adore::params::APTacticalPlanner *p)
virtual double	getValue (double t, double s, double ds) const override
virtual void	update (double t0, double s0, double ds0) override
virtual ConstraintDirection	getDirection () override
virtual int	getDimension () override
virtual int	getDerivative () override

Private Attributes
adore::view::ALane *	lfv_
adore::params::APTacticalPlanner *	p_
adore::params::APLongitudinalPlanner *	p_long_
double	globalSpeedLimit_
double	amin_
double	t0_
double	ds0_

Additional Inherited Members
Public Types inherited from adore::fun::ANominalConstraint
enum	ConstraintDirection { LB , UB }

Detailed Description

LFVSpeedLimit - maintain speed limit of lane following view during longitudinal planning HeD20210915: relaxation for speedlimit: the initial speed may be violating speed limit: manual control, other planners with different constraints, switching of non-constant traffic control systems. To avoid infeasible problem, speed limit is relaxed with initial condition and breaking curve.

Constructor & Destructor Documentation

LFVSpeedLimit()

adore::fun::LFVSpeedLimit::LFVSpeedLimit ( adore::view::ALane *  lfv, adore::params::APTacticalPlanner *  p  )

inline

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Member Function Documentation

getDerivative()

virtual int adore::fun::LFVSpeedLimit::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::LFVSpeedLimit::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()

virtual ConstraintDirection adore::fun::LFVSpeedLimit::getDirection ( )

inlineoverridevirtual

Determine whether this constraint is an upper or lower bound.

Returns

lb or ub

Implements adore::fun::ANominalConstraint.

getValue()

virtual double adore::fun::LFVSpeedLimit::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.

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update()

virtual void adore::fun::LFVSpeedLimit::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.

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Member Data Documentation

amin_

double adore::fun::LFVSpeedLimit::amin_

private

ds0_

double adore::fun::LFVSpeedLimit::ds0_

private

globalSpeedLimit_

double adore::fun::LFVSpeedLimit::globalSpeedLimit_

private

lfv_

adore::view::ALane* adore::fun::LFVSpeedLimit::lfv_

private

p_

adore::params::APTacticalPlanner* adore::fun::LFVSpeedLimit::p_

private

p_long_

adore::params::APLongitudinalPlanner* adore::fun::LFVSpeedLimit::p_long_

private

t0_

double adore::fun::LFVSpeedLimit::t0_

private

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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/basicconstraintsandreferences.h