ad::rss::unstructured::RssUnstructuredConstellationChecker Class Reference

Class to check whether an unstructured constellation is safe and to determine the proper response for the constellation. More...

#include <ad/rss/unstructured/RssUnstructuredConstellationChecker.hpp>

Public Types
enum class	SafeState { safe , unsafeBrakeOtherHasPrio , unsafeBrakeEgoHasPrio , unsafeBrakeBoth }
enum class	DrivingMode { DriveAway , ContinueForward , Brake , Invalid }
using	CalculateTrajectorySetsCallbackFunctionType = std::function< bool(::ad::rss::core::RelativeConstellation const &constellation, ::ad::rss::world::ObjectId const &objectId, ::ad::rss::core::RelativeObjectState const &vehicleState, ::ad::geometry::Polygon &brakePolygon, ::ad::geometry::Polygon &continueForwardPolygon)>
	Function callback type for unstructured trajectory set calculation. More...

Public Member Functions
	RssUnstructuredConstellationChecker ()
	Constructor.
	RssUnstructuredConstellationChecker (RssUnstructuredConstellationChecker const &other)
	Copy constructor.
	~RssUnstructuredConstellationChecker ()=default
	Destructor.
RssUnstructuredConstellationChecker &	operator= (RssUnstructuredConstellationChecker const &other)
	Assignment operator.
bool	calculateRssStateUnstructured (world::TimeIndex const &time_index, core::RelativeConstellation const &constellation, state::UnstructuredConstellationStateInformation &egoStateInfo, state::RssState &rssState)
	Calculate safety checks and determine required rssState for unstructured constellations. More...
void	registerCalculateTrajectorySetsCallback (world::ObjectType objectType, CalculateTrajectorySetsCallbackFunctionType calculateTrajectorySetsCallback)
	Register a callback for unstructured trajectory set calculation. More...

Detailed Description

Class to check whether an unstructured constellation is safe and to determine the proper response for the constellation.

Note: Implements the checks and responses given by the definitions 19-22 of the RSS paper (arXiv:1708.06374v6)

Class performs required check if constellation is safe Class will maintain the previous state of the constellation in order to provide the proper response.

Member Typedef Documentation

CalculateTrajectorySetsCallbackFunctionType

using ad::rss::unstructured::RssUnstructuredConstellationChecker::CalculateTrajectorySetsCallbackFunctionType = std::function<bool(::ad::rss::core::RelativeConstellation const &constellation, ::ad::rss::world::ObjectId const &objectId, ::ad::rss::core::RelativeObjectState const &vehicleState, ::ad::geometry::Polygon &brakePolygon, ::ad::geometry::Polygon &continueForwardPolygon)>

Function callback type for unstructured trajectory set calculation.

Parameters

[in]	constellation	The relative constellation the calculation is based on
[in]	objectId	The id of the object the calculation is based on (one of the two constellation objects)
[in]	vehicleState	The relative object state of the object the calculation is based on (one of the two constellation vehicle states)
[out]	brakePolygon	The calculated brake polygon
[out]	continueForwardPolygon	The calculated continue forward polygon

Returns

false if a failure occurred during calculations, true otherwise

Member Function Documentation

calculateRssStateUnstructured()

bool ad::rss::unstructured::RssUnstructuredConstellationChecker::calculateRssStateUnstructured	(	world::TimeIndex const &	time_index,
		core::RelativeConstellation const &	constellation,
		state::UnstructuredConstellationStateInformation &	egoStateInfo,
		state::RssState &	rssState
	)

Calculate safety checks and determine required rssState for unstructured constellations.

Parameters

[in]	time_index	the time index of the constellation
[in]	constellation	constellation to analyze
[out]	egoStateInfo	rssState of the ego vehicle (Be aware: only calculated/updated once per timestep)
[out]	rssState	rssState of the vehicle

Returns

false if a failure occurred during calculations, true otherwise

registerCalculateTrajectorySetsCallback()

void ad::rss::unstructured::RssUnstructuredConstellationChecker::registerCalculateTrajectorySetsCallback ( world::ObjectType  objectType, CalculateTrajectorySetsCallbackFunctionType  calculateTrajectorySetsCallback  )

inline

Register a callback for unstructured trajectory set calculation.

Parameters

[in]	objectType	The object type this trajectory set calculation should be applied
[in]	calculateTrajectorySetsCallback	The actual callback function to perform the trajectory set calculation

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

• include/ad/rss/unstructured/RssUnstructuredConstellationChecker.hpp