ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::fun::LateralOffsetConstraintLM Class Reference

#include <lanechangeconstraintsandreferences.h>

Inheritance diagram for adore::fun::LateralOffsetConstraintLM:
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Collaboration diagram for adore::fun::LateralOffsetConstraintLM:
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Public Member Functions

 LateralOffsetConstraintLM (adore::view::ALaneChangeView *lcv, adore::params::APVehicle *pv, adore::params::APLateralPlanner *plat, ConstraintDirection direction)
 
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::ALaneChangeViewlcv_
 
adore::params::APVehiclepv_
 
adore::params::APLateralPlannerplat_
 
double width_
 
double hard_safety_distance_
 
double soft_safety_distance_
 
double min_control_space_
 
ConstraintDirection direction_
 

Additional Inherited Members

- Public Types inherited from adore::fun::ANominalConstraint
enum  ConstraintDirection { LB , UB }
 

Detailed Description

LateralOffsetConstraintLM - provides the left=UB or right=LB bound for lateral planning wrt the lane change view for merges.

Constructor & Destructor Documentation

◆ LateralOffsetConstraintLM()

adore::fun::LateralOffsetConstraintLM::LateralOffsetConstraintLM ( adore::view::ALaneChangeView lcv,
adore::params::APVehicle pv,
adore::params::APLateralPlanner plat,
ConstraintDirection  direction 
)
inline

Member Function Documentation

◆ getDerivative()

virtual int adore::fun::LateralOffsetConstraintLM::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::LateralOffsetConstraintLM::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::LateralOffsetConstraintLM::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::LateralOffsetConstraintLM::getValue ( double  t,
double  s,
double  ds 
) const
inlineoverridevirtual

return the value of the constraint at a certain time and position

Parameters
tthe time
sprogress along the road-relative coordinate system
dsderivative 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::LateralOffsetConstraintLM::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
t0start time for planning
s0start progress in road-relative coordinate system
ds0derivative of s at t0

Implements adore::fun::ANominalConstraint.

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Member Data Documentation

◆ direction_

ConstraintDirection adore::fun::LateralOffsetConstraintLM::direction_
private

◆ hard_safety_distance_

double adore::fun::LateralOffsetConstraintLM::hard_safety_distance_
private

◆ lcv_

adore::view::ALaneChangeView* adore::fun::LateralOffsetConstraintLM::lcv_
private

◆ min_control_space_

double adore::fun::LateralOffsetConstraintLM::min_control_space_
private

◆ plat_

adore::params::APLateralPlanner* adore::fun::LateralOffsetConstraintLM::plat_
private

◆ pv_

adore::params::APVehicle* adore::fun::LateralOffsetConstraintLM::pv_
private

◆ soft_safety_distance_

double adore::fun::LateralOffsetConstraintLM::soft_safety_distance_
private

◆ width_

double adore::fun::LateralOffsetConstraintLM::width_
private

The documentation for this class was generated from the following file: