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

#include <occupancycylinder.h>

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Classes

struct  EarliestOverlapFunctor
 
struct  TimeEncroachmentFunctor
 
struct  XYIntrusionFunctor
 

Public Member Functions

bool collidesWith (const OccupancyCylinderTree &other) const
 
bool getPostEncroachmentTime (const OccupancyCylinderTree &other, double max_time, double &result) const
 
bool getEarliestCollisionTime (const OccupancyCylinderTree &other, double max_time, double &result) const
 
- Public Member Functions inherited from adore::mad::VectorBasedVolumeTree< OccupancyCylinder, OccupancyCylinderBoundingFunctor >
 VectorBasedVolumeTree ()
 
VolumeVector & getLevel (int i)
 
const VolumeVector & getLevel (int i) const
 
int getOccupancyCount ()
 
const int getOccupancyCount () const
 
void setPreferredBranchingFactor (int f)
 
void insert (const OccupancyCylinder &volume)
 
int getLevelCount () const
 
void remove_all_levels ()
 
void compute_all_levels ()
 
void recompute_levels ()
 
void setLevelCount (int count)
 
bool compute_min (const VectorBasedVolumeTree< OtherVolumeType, OtherFunctorType > &other, double cutoff, double &result_value, const MetricFunctor &f) const
 

Additional Inherited Members

- Public Types inherited from adore::mad::VectorBasedVolumeTree< OccupancyCylinder, OccupancyCylinderBoundingFunctor >
typedef std::pair< std::pair< int, int >, OccupancyCylinder > IndexedVolumeType
 
typedef std::vector< IndexedVolumeType > VolumeVector
 

Member Function Documentation

◆ collidesWith()

bool adore::mad::OccupancyCylinderTree::collidesWith ( const OccupancyCylinderTree &  other) const
inline

evaluates, whether the two objects overlap in x,y and z at a certain point of time

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◆ getEarliestCollisionTime()

bool adore::mad::OccupancyCylinderTree::getEarliestCollisionTime ( const OccupancyCylinderTree &  other,
double  max_time,
double &  result 
) const
inline

evaluates the earliest collision time

Parameters
max_timemaximum time until which to evaluate
Returns
true if collision occurs
Parameters
resultcontains earliest collision time, if overlap occured
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◆ getPostEncroachmentTime()

bool adore::mad::OccupancyCylinderTree::getPostEncroachmentTime ( const OccupancyCylinderTree &  other,
double  max_time,
double &  result 
) const
inline

evaluates the post-encroachment time between two objects, if their xyz projections overlap

Parameters
max_timemaximum time until which to evaluate
Returns
true, if an xyz projection overlap occurs
Parameters
resultcontains postencroachmenttime, if overlap occured
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The documentation for this class was generated from the following file: