namespace state More...

Classes
struct	AccelerationRestriction
	DataType AccelerationRestriction. More...

struct	LateralRssState
	DataType LateralRssState. More...

struct	LongitudinalRssState
	DataType LongitudinalRssState. More...

struct	ProperResponse
	DataType ProperResponse. More...

struct	RssState
	DataType RssState. More...

struct	RssStateInformation
	DataType RssStateInformation. More...

struct	RssStateSnapshot
	DataType RssStateSnapshot. More...

struct	UnstructuredConstellationRssState
	DataType UnstructuredConstellationRssState. More...

struct	UnstructuredConstellationStateInformation
	DataType UnstructuredConstellationStateInformation. More...

Typedefs
typedef std::vector<::ad::rss::state::RssState >	RssStateVector
	DataType RssStateVector. More...

typedef ::ad::physics::Distance2DList	UnstructuredTrajectorySet
	DataType UnstructuredTrajectorySet. More...

Enumerations
enum class	LateralResponse : int32_t { None = 0 , BrakeMin = 1 }
	DataType LateralResponse. More...

enum class	LongitudinalResponse : int32_t { None = 0 , BrakeMinCorrect = 1 , BrakeMin = 2 }
	DataType LongitudinalResponse. More...

enum class	RssStateEvaluator : int32_t { None = 0 , LongitudinalDistanceOppositeDirectionEgoCorrectLane = 1 , LongitudinalDistanceOppositeDirection = 2 , LongitudinalDistanceSameDirectionEgoFront = 3 , LongitudinalDistanceSameDirectionOtherInFront = 4 , LateralDistance = 5 , IntersectionOtherPriorityEgoAbleToStop = 6 , IntersectionEgoPriorityOtherAbleToStop = 7 , IntersectionEgoInFront = 8 , IntersectionOtherInFront = 9 , IntersectionOverlap = 10 }
	DataType RssStateEvaluator. More...

enum class	UnstructuredConstellationResponse : int32_t { None = 0 , ContinueForward = 1 , DriveAway = 2 , Brake = 3 }
	DataType UnstructuredConstellationResponse. More...

Functions
std::ostream &	operator<< (std::ostream &os, AccelerationRestriction const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LateralResponse const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LateralRssState const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LongitudinalResponse const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, LongitudinalRssState const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, ProperResponse const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, RssState const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, RssStateEvaluator const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, RssStateInformation const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, RssStateSnapshot const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, UnstructuredConstellationResponse const &value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, UnstructuredConstellationRssState const &_value)
	standard ostream operator More...

std::ostream &	operator<< (std::ostream &os, UnstructuredConstellationStateInformation const &_value)
	standard ostream operator More...

bool	isLongitudinalSafe (RssState const &rssState)
	is rss state longitudinal safe More...

bool	isLateralSafe (RssState const &rssState)
	is rss state lateral safe More...

bool	isUnstructuredConstellationSafe (RssState const &rssState)
	is rss unstructured constellation state safe More...

bool	isDangerous (RssState const &rssState)
	is rss state dangerous More...

void	combineState (state::UnstructuredConstellationRssState const &state, physics::Acceleration &driveAwayBrakeMin, bool &driveAwayToBrakeTransition, state::UnstructuredConstellationResponse &response, ::ad::geometry::HeadingRangeVector &responseHeadingRanges, physics::AccelerationRange &accelerationRange)
	combineState and update AccelerationRestriction More...

void	combineState (state::LongitudinalRssState const &state, state::LongitudinalResponse &response, physics::AccelerationRange &accelerationRange)
	combineState and update AccelerationRestriction More...

void	combineState (state::LateralRssState const &state, state::LateralResponse &response, physics::AccelerationRange &accelerationRange, bool const isLaneBoundariesObject)
	combineState and update AccelerationRestriction More...

state::ProperResponse	combineProperResponse (state::ProperResponse const &left, state::ProperResponse const &right)
	Combine two proper responses. More...

Detailed Description

namespace state

namespace for RSS state datatypes and operations

Typedef Documentation

◆ RssStateVector

typedef std::vector<::ad::rss::state::RssState> ad::rss::state::RssStateVector

DataType RssStateVector.

A vector of RSS states.

◆ UnstructuredTrajectorySet

typedef ::ad::physics::Distance2DList ad::rss::state::UnstructuredTrajectorySet

DataType UnstructuredTrajectorySet.

Describes the potential endpoints of all possible trajectories during unstructured constellation calculation

Enumeration Type Documentation

◆ LateralResponse

enum ad::rss::state::LateralResponse : int32_t

strong

DataType LateralResponse.

Enumeration defining the possible lateral responses. Be aware: there has to be a strict order of the enumeration values according to the strictness of the response.

Enumerator
None	No action required.
BrakeMin	Vehicle has to decerate at least with brake min laterally

◆ LongitudinalResponse

enum ad::rss::state::LongitudinalResponse : int32_t

strong

DataType LongitudinalResponse.

Enumeration defining the possible longitudinal responses. Be aware: there has to be a strict order of the enumeration values according to the strictness of the response.

Enumerator
None	No action required.
BrakeMinCorrect	Vehicle has to decerate at least with brake min correct longitudinally
BrakeMin	Vehicle has to decerate at least with brake min longitudinally

◆ RssStateEvaluator

enum ad::rss::state::RssStateEvaluator : int32_t

strong

DataType RssStateEvaluator.

The method used to evaluate the respone.

Enumerator
None	Not evaluated.
LongitudinalDistanceOppositeDirectionEgoCorrectLane	longitudinal, opposite direction, correct lane
LongitudinalDistanceOppositeDirection	longitudinal, opposite direction
LongitudinalDistanceSameDirectionEgoFront	longitudinal, same direction, ego in front
LongitudinalDistanceSameDirectionOtherInFront	longitudinal, same direction, ego at back
LateralDistance	lateral
IntersectionOtherPriorityEgoAbleToStop	intersection, other has prio, ego can stop
IntersectionEgoPriorityOtherAbleToStop	intersection, ego has prio, other can stop
IntersectionEgoInFront	intersection, ego in front
IntersectionOtherInFront	intersection, other in front
IntersectionOverlap	intersection, overlap

◆ UnstructuredConstellationResponse

enum ad::rss::state::UnstructuredConstellationResponse : int32_t

strong

DataType UnstructuredConstellationResponse.

Enumeration defining the possible unstructured constellation responses.

Enumerator
None	No response.
ContinueForward	The object is allowed to continue forward.
DriveAway	The object is allowed to drive away within the calculated heading range.
Brake	The vehicle has to brake.

Function Documentation

◆ combineProperResponse()

state::ProperResponse ad::rss::state::combineProperResponse	(	state::ProperResponse const &	left,
		state::ProperResponse const &	right
	)

Combine two proper responses.

Parameters

[in]	left	– a RSS response to become RSS safe.
[in]	right	– another RSS response to become RSS safe.

Returns: The combined proper response considering the worst-case

◆ combineState() [1/3]

void ad::rss::state::combineState	(	state::LateralRssState const &	state,
		state::LateralResponse &	response,
		physics::AccelerationRange &	accelerationRange,
		bool const	isLaneBoundariesObject
	)

combineState and update AccelerationRestriction

Updates the lateral acceleration_restrictions

Parameters

[in]	state	- The lateral state to update the acceleration restrictions with
[in,out]	response	– the combined RSS response to become RSS safe.
[in,out]	accelerationRange	- The restrictions on the vehicle acceleration to become RSS safe.
[in]	isLaneBoundariesObject	is the object a lane boundaries object (which is ignored if none response)

◆ combineState() [2/3]

void ad::rss::state::combineState	(	state::LongitudinalRssState const &	state,
		state::LongitudinalResponse &	response,
		physics::AccelerationRange &	accelerationRange
	)

combineState and update AccelerationRestriction

Updates the longitudinal accelerationRestriction

Parameters

[in]	state	- The longitudinal state to update the acceleration restrictions with
[in,out]	response	– the combined RSS response to become RSS safe.
[in,out]	accelerationRange	- The combined restrictions on the vehicle acceleration to become RSS safe.

◆ combineState() [3/3]

void ad::rss::state::combineState	(	state::UnstructuredConstellationRssState const &	state,
		physics::Acceleration &	driveAwayBrakeMin,
		bool &	driveAwayToBrakeTransition,
		state::UnstructuredConstellationResponse &	response,
		::ad::geometry::HeadingRangeVector &	responseHeadingRanges,
		physics::AccelerationRange &	accelerationRange
	)

combineState and update AccelerationRestriction

Updates the longitudinal accelerationRestriction

Parameters

[in]	state	- The unstructured constellation state to update the acceleration restrictions with
[in,out]	driveAwayBrakeMin	– the minimal brake_min of all drive-away states
[in,out]	driveAwayToBrakeTransition	– a transition from drive-Away to Brake happened
[in,out]	response	– the combined RSS response to become RSS safe.
[in,out]	responseHeadingRanges	– the combined RSS response heading ranges (for driving away)
[in,out]	accelerationRange	- The combined restrictions on the vehicle acceleration to become RSS safe.

◆ isDangerous()

bool ad::rss::state::isDangerous ( RssState const & rssState )

inline

is rss state dangerous

Parameters

[in] rssState to check

true if dangerous, false if not

◆ isLateralSafe()

bool ad::rss::state::isLateralSafe ( RssState const & rssState )

inline

is rss state lateral safe

Parameters

[in] rssState to check

true if safe, false if not

◆ isLongitudinalSafe()

bool ad::rss::state::isLongitudinalSafe ( RssState const & rssState )

inline

is rss state longitudinal safe

Parameters

[in] rssState to check

true if safe, false if not

◆ isUnstructuredConstellationSafe()

bool ad::rss::state::isUnstructuredConstellationSafe ( RssState const & rssState )

inline

is rss unstructured constellation state safe

Parameters

[in] rssState to check

true if safe, false if not

◆ operator<<() [1/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		AccelerationRestriction const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	AccelerationRestriction value

Returns: The stream object.

◆ operator<<() [2/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		LateralResponse const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	LateralResponse value

Returns: The stream object.

◆ operator<<() [3/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		LateralRssState const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	LateralRssState value

Returns: The stream object.

◆ operator<<() [4/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		LongitudinalResponse const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	LongitudinalResponse value

Returns: The stream object.

◆ operator<<() [5/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		LongitudinalRssState const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	LongitudinalRssState value

Returns: The stream object.

◆ operator<<() [6/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		ProperResponse const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	ProperResponse value

Returns: The stream object.

◆ operator<<() [7/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		RssState const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	RssState value

Returns: The stream object.

◆ operator<<() [8/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		RssStateEvaluator const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	RssStateEvaluator value

Returns: The stream object.

◆ operator<<() [9/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		RssStateInformation const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	RssStateInformation value

Returns: The stream object.

◆ operator<<() [10/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		RssStateSnapshot const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	RssStateSnapshot value

Returns: The stream object.

◆ operator<<() [11/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		UnstructuredConstellationResponse const &	value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	value	UnstructuredConstellationResponse value

Returns: The stream object.

◆ operator<<() [12/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		UnstructuredConstellationRssState const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	UnstructuredConstellationRssState value

Returns: The stream object.

◆ operator<<() [13/13]

std::ostream& ad::rss::state::operator<<	(	std::ostream &	os,
		UnstructuredConstellationStateInformation const &	_value
	)

inline

standard ostream operator

Parameters

[in]	os	The output stream to write to
[in]	_value	UnstructuredConstellationStateInformation value

Returns: The stream object.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ RssStateVector

◆ UnstructuredTrajectorySet

Enumeration Type Documentation

◆ LateralResponse

◆ LongitudinalResponse

◆ RssStateEvaluator

◆ UnstructuredConstellationResponse

Function Documentation

◆ combineProperResponse()

◆ combineState() [1/3]

◆ combineState() [2/3]

◆ combineState() [3/3]

◆ isDangerous()

◆ isLateralSafe()

◆ isLongitudinalSafe()

◆ isUnstructuredConstellationSafe()

◆ operator<<() [1/13]

◆ operator<<() [2/13]

◆ operator<<() [3/13]

◆ operator<<() [4/13]

◆ operator<<() [5/13]

◆ operator<<() [6/13]

◆ operator<<() [7/13]

◆ operator<<() [8/13]

◆ operator<<() [9/13]

◆ operator<<() [10/13]

◆ operator<<() [11/13]

◆ operator<<() [12/13]

◆ operator<<() [13/13]