adore::if_ROS::params::PLateralPlanner Class Reference

#include <p_lateral_planner.h>

Inheritance diagram for adore::if_ROS::params::PLateralPlanner:

Collaboration diagram for adore::if_ROS::params::PLateralPlanner:

Public Member Functions
	PLateralPlanner (ros::NodeHandle n, std::string prefix)
virtual double	getWeightPos () const override
	getWeightPos returns cost function weight for quadratic position error term More...
virtual double	getWeightVel () const override
	getWeightVel returns cost function weight for quadratic velocity error term More...
virtual double	getWeightAcc () const override
	getWeightAcc returns cost function weight for quadratic acceleration term More...
virtual double	getWeightJerk () const override
	getWeightJerk returns cost function weight for quadratic jerk term More...
virtual double	getWeightEndPos () const override
	getWeightEndPos returns cost function weight for quadratic position error term at end point More...
virtual double	getWeightEndVel () const override
	getWeightEndVel returns cost function weight for quadratic velocity error term at end point More...
virtual double	getWeightEndAcc () const override
	getWeightEndAcc returns cost function weight for quadratic acceleration term at end point More...
virtual double	getSlackPos () const override
	getSlackPos returns maximum slack of soft-constraints for position More...
virtual double	getSlackVel () const override
	getSlackVel returns maximum slack of soft-constraints for velocity More...
virtual double	getSlackAcc () const override
	getSlackAcc returns maximum slack of soft-constraints for acceleration More...
virtual double	getAccLB () const override
	getAccLB returns lateral acceleration lower bound More...
virtual double	getAccUB () const override
	getAccUB returns lateral acceleration upper bound More...
virtual double	getJerkLB () const override
	getJerkLB returns lateral jerk lower bound More...
virtual double	getJerkUB () const override
	getJerkLB returns lateral jerk upper bound More...
virtual double	getCurvatureUB () const override
	getCurvatureUB returns maximum curvature of path (relevant at low speeds) More...
virtual double	getCurvatureLB () const override
	getCurvatureLB returns minimum curvature of path (relevant at low speeds) More...
virtual double	getRelativeHeadingUB () const override
	getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system More...
virtual double	getRelativeHeadingLB () const override
	getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system More...
virtual double	getMergeConstraintDelay () const override
	getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated More...
virtual double	getHardSafetyDistanceToLaneBoundary () const override
	getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side More...
virtual double	getSoftSafetyDistanceToLaneBoundary () const override
	getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side, which is enforced, if sufficient space is available More...
virtual double	getMinimumLateralControlSpace () const override
	getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more space for lateral control, softSafetyDistanceToLaneBoundary is enforced More...
virtual double	getMaxCPUTime () const override
	getMaxCPUTime returns the maximum cpu time for one plan computation More...
virtual double	getLateralGridScale () const override
	getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver variations will plan for offsets {...,-2d,-d,0,d,2d,..} More...

Additional Inherited Members
Private Member Functions inherited from adore::if_ROS::ROSParam
template<typename T >
void	get (const std::string &name, T &result) const
	ROSParam (ros::NodeHandle n, std::string prefix)
Private Attributes inherited from adore::if_ROS::ROSParam
std::string	prefix_
ros::NodeHandle	n_

Constructor & Destructor Documentation

PLateralPlanner()

adore::if_ROS::params::PLateralPlanner::PLateralPlanner ( ros::NodeHandle  n, std::string  prefix  )

inline

Member Function Documentation

getAccLB()

virtual double adore::if_ROS::params::PLateralPlanner::getAccLB ( ) const

inlineoverridevirtual

getAccLB returns lateral acceleration lower bound

Implements adore::params::APLateralPlanner.

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getAccUB()

virtual double adore::if_ROS::params::PLateralPlanner::getAccUB ( ) const

inlineoverridevirtual

getAccUB returns lateral acceleration upper bound

Implements adore::params::APLateralPlanner.

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getCurvatureLB()

virtual double adore::if_ROS::params::PLateralPlanner::getCurvatureLB ( ) const

inlineoverridevirtual

getCurvatureLB returns minimum curvature of path (relevant at low speeds)

Implements adore::params::APLateralPlanner.

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getCurvatureUB()

virtual double adore::if_ROS::params::PLateralPlanner::getCurvatureUB ( ) const

inlineoverridevirtual

getCurvatureUB returns maximum curvature of path (relevant at low speeds)

Implements adore::params::APLateralPlanner.

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getHardSafetyDistanceToLaneBoundary()

virtual double adore::if_ROS::params::PLateralPlanner::getHardSafetyDistanceToLaneBoundary ( ) const

inlineoverridevirtual

getHardSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side

Implements adore::params::APLateralPlanner.

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getJerkLB()

virtual double adore::if_ROS::params::PLateralPlanner::getJerkLB ( ) const

inlineoverridevirtual

getJerkLB returns lateral jerk lower bound

Implements adore::params::APLateralPlanner.

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getJerkUB()

virtual double adore::if_ROS::params::PLateralPlanner::getJerkUB ( ) const

inlineoverridevirtual

getJerkLB returns lateral jerk upper bound

Implements adore::params::APLateralPlanner.

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getLateralGridScale()

virtual double adore::if_ROS::params::PLateralPlanner::getLateralGridScale ( ) const

inlineoverridevirtual

getLateralGridScale returns the size of a grid step d for lateral variations of a maneuver: maneuver variations will plan for offsets {...,-2d,-d,0,d,2d,..}

Implements adore::params::APLateralPlanner.

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getMaxCPUTime()

virtual double adore::if_ROS::params::PLateralPlanner::getMaxCPUTime ( ) const

inlineoverridevirtual

getMaxCPUTime returns the maximum cpu time for one plan computation

Implements adore::params::APLateralPlanner.

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getMergeConstraintDelay()

virtual double adore::if_ROS::params::PLateralPlanner::getMergeConstraintDelay ( ) const

inlineoverridevirtual

getMergeConstraintDelay returns a time-delay after which lateral position constraints are activated, if they are initially violated

Implements adore::params::APLateralPlanner.

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getMinimumLateralControlSpace()

virtual double adore::if_ROS::params::PLateralPlanner::getMinimumLateralControlSpace ( ) const

inlineoverridevirtual

getMinimumLateralControlSpace returns the minimum desired lateral control space: If vehicle has more space for lateral control, softSafetyDistanceToLaneBoundary is enforced

Implements adore::params::APLateralPlanner.

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getRelativeHeadingLB()

virtual double adore::if_ROS::params::PLateralPlanner::getRelativeHeadingLB ( ) const

inlineoverridevirtual

getRelativeHeadingLB returns lower bound on heading deviation from current lane's coordinate system

Implements adore::params::APLateralPlanner.

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getRelativeHeadingUB()

virtual double adore::if_ROS::params::PLateralPlanner::getRelativeHeadingUB ( ) const

inlineoverridevirtual

getRelativeHeadingUB returns upper bound on heading deviation from current lane's coordinate system

Implements adore::params::APLateralPlanner.

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getSlackAcc()

virtual double adore::if_ROS::params::PLateralPlanner::getSlackAcc ( ) const

inlineoverridevirtual

getSlackAcc returns maximum slack of soft-constraints for acceleration

Implements adore::params::APLateralPlanner.

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getSlackPos()

virtual double adore::if_ROS::params::PLateralPlanner::getSlackPos ( ) const

inlineoverridevirtual

getSlackPos returns maximum slack of soft-constraints for position

Implements adore::params::APLateralPlanner.

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getSlackVel()

virtual double adore::if_ROS::params::PLateralPlanner::getSlackVel ( ) const

inlineoverridevirtual

getSlackVel returns maximum slack of soft-constraints for velocity

Implements adore::params::APLateralPlanner.

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getSoftSafetyDistanceToLaneBoundary()

virtual double adore::if_ROS::params::PLateralPlanner::getSoftSafetyDistanceToLaneBoundary ( ) const

inlineoverridevirtual

getSoftSafetyDistanceToLaneBoundary returns the minimum distance between lane boundary and vehicle side, which is enforced, if sufficient space is available

Implements adore::params::APLateralPlanner.

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getWeightAcc()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightAcc ( ) const

inlineoverridevirtual

getWeightAcc returns cost function weight for quadratic acceleration term

Implements adore::params::APLateralPlanner.

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getWeightEndAcc()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightEndAcc ( ) const

inlineoverridevirtual

getWeightEndAcc returns cost function weight for quadratic acceleration term at end point

Implements adore::params::APLateralPlanner.

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getWeightEndPos()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightEndPos ( ) const

inlineoverridevirtual

getWeightEndPos returns cost function weight for quadratic position error term at end point

Implements adore::params::APLateralPlanner.

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getWeightEndVel()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightEndVel ( ) const

inlineoverridevirtual

getWeightEndVel returns cost function weight for quadratic velocity error term at end point

Implements adore::params::APLateralPlanner.

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getWeightJerk()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightJerk ( ) const

inlineoverridevirtual

getWeightJerk returns cost function weight for quadratic jerk term

Implements adore::params::APLateralPlanner.

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getWeightPos()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightPos ( ) const

inlineoverridevirtual

getWeightPos returns cost function weight for quadratic position error term

Implements adore::params::APLateralPlanner.

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getWeightVel()

virtual double adore::if_ROS::params::PLateralPlanner::getWeightVel ( ) const

inlineoverridevirtual

getWeightVel returns cost function weight for quadratic velocity error term

Implements adore::params::APLateralPlanner.

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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/adore_if_ros/adore_if_ros/include/adore_if_ros/params_factory/p_lateral_planner.h