ad::rss::unstructured Namespace Reference

namespace unstructured More...

Classes
class	RssUnstructuredConstellationChecker
	Class to check whether an unstructured constellation is safe and to determine the proper response for the constellation. More...
struct	TrajectoryPoint
	a point of a trajectory More...
struct	TrajectorySetStep
struct	TrafficParticipantLocation
struct	TrajectorySetStepVehicleLocation
class	TrajectoryPedestrian
	Calculates the trajectory sets of a pedestrian. More...
class	TrajectoryVehicle
	Calculates the trajectory sets of a vehicle. More...

Typedefs
using	Trajectory = std::vector< TrajectoryPoint >

Enumerations
enum class	VehicleCorner { frontLeft , frontRight , backLeft , backRight }
	corner of a vehicle

Functions
::ad::geometry::Point	getVehicleCorner (TrajectoryPoint const &point, core::RelativeObjectState const &vehicleState, VehicleCorner const corner)
	get the point describing the corner of a vehicle More...
bool	calculateEstimationBetweenSteps (::ad::geometry::Polygon &polygon, TrajectorySetStepVehicleLocation const &previousVehicleLocation, TrajectorySetStepVehicleLocation const &currentVehicleLocation, std::string const &debugNamespace)
	Calculate a trajectory set estimation between two steps. More...
bool	calculateStepPolygon (core::RelativeObjectState const &vehicleState, TrajectorySetStep const &step, std::string const &debugNamespace, ::ad::geometry::Polygon &polygon, TrajectorySetStepVehicleLocation &stepVehicleLocation)
	Calculate a polygon for one step. More...
bool	calculateFrontAndSidePolygon (core::RelativeObjectState const &vehicleState, TrajectorySetStepVehicleLocation const &initialStepVehicleLocation, std::vector< TrajectorySetStep > const &sideSteps, TrajectorySetStep const &front, std::string const &debugNamespace, ::ad::geometry::Polygon &resultPolygon, TrajectorySetStepVehicleLocation &frontSideStepVehicleLocation)
	Calculate the front and side polygon. More...
bool	calculateResponseTimePolygon (core::RelativeObjectState const &vehicleState, TrajectorySetStepVehicleLocation const &initialStepVehicleLocation, std::string const &debugNamespace, ::ad::geometry::Polygon &resultPolygon)
	Calculate a simple polygon spanning the current vehicle pose polygon and the provided initialStepVehicleLocation and combine it with the given resultPolygon. More...

Detailed Description

namespace unstructured

Typedef Documentation

Trajectory

using ad::rss::unstructured::Trajectory = typedef std::vector<TrajectoryPoint>

a trajectory

Function Documentation

calculateEstimationBetweenSteps()

bool ad::rss::unstructured::calculateEstimationBetweenSteps	(	::ad::geometry::Polygon &	polygon,
		TrajectorySetStepVehicleLocation const &	previousVehicleLocation,
		TrajectorySetStepVehicleLocation const &	currentVehicleLocation,
		std::string const &	debugNamespace
	)

Calculate a trajectory set estimation between two steps.

Parameters

[in,out]	polygon	polygon to work on
[in]	previousVehicleLocation	the previous possible vehicle locations
[in]	currentVehicleLocation	the current possible vehicle locations
[in]	debugNamespace	namespace for debugging purposes

Returns

false if a failure occurred during calculations, true otherwise

calculateFrontAndSidePolygon()

bool ad::rss::unstructured::calculateFrontAndSidePolygon	(	core::RelativeObjectState const &	vehicleState,
		TrajectorySetStepVehicleLocation const &	initialStepVehicleLocation,
		std::vector< TrajectorySetStep > const &	sideSteps,
		TrajectorySetStep const &	front,
		std::string const &	debugNamespace,
		::ad::geometry::Polygon &	resultPolygon,
		TrajectorySetStepVehicleLocation &	frontSideStepVehicleLocation
	)

Calculate the front and side polygon.

Parameters

[in]	vehicleState	current state of the vehicle
[in]	initialStepVehicleLocation	the vehicle locations for the initial calculation step
[in]	sideSteps	trajectory set steps that define the sides of the polygon
[in]	front	trajectory set step that define the front of the polygon
[in]	debugNamespace	namespace for debugging purposes
[out]	resultPolygon	the resulting polygon
[out]	frontSideStepVehicleLocation	vehicle locations of the front side

Returns

false if a failure occurred during calculations, true otherwise

calculateResponseTimePolygon()

bool ad::rss::unstructured::calculateResponseTimePolygon	(	core::RelativeObjectState const &	vehicleState,
		TrajectorySetStepVehicleLocation const &	initialStepVehicleLocation,
		std::string const &	debugNamespace,
		::ad::geometry::Polygon &	resultPolygon
	)

Calculate a simple polygon spanning the current vehicle pose polygon and the provided initialStepVehicleLocation and combine it with the given resultPolygon.

Parameters

[in]	vehicleState	current state of the vehicle
[in]	initialStepVehicleLocation	the vehicle locations for the initial calculation step
[in]	debugNamespace	namespace for debugging purposes
[in,out]	resultPolygon	the resulting polygon

Returns

false if a failure occurred during calculations, true otherwise

calculateStepPolygon()

bool ad::rss::unstructured::calculateStepPolygon	(	core::RelativeObjectState const &	vehicleState,
		TrajectorySetStep const &	step,
		std::string const &	debugNamespace,
		::ad::geometry::Polygon &	polygon,
		TrajectorySetStepVehicleLocation &	stepVehicleLocation
	)

Calculate a polygon for one step.

Parameters

[in]	vehicleState	current state of the vehicle
[in]	step	step to use for calculations
[in]	debugNamespace	namespace for debugging purposes
[out]	polygon	the resulting polygon
[out]	stepVehicleLocation	vehicle locations after calculation

Returns

false if a failure occurred during calculations, true otherwise

getVehicleCorner()

::ad::geometry::Point ad::rss::unstructured::getVehicleCorner	(	TrajectoryPoint const &	point,
		core::RelativeObjectState const &	vehicleState,
		VehicleCorner const	corner
	)

get the point describing the corner of a vehicle

Parameters

[in]	point	trajectory point
[in]	vehicleState	vehicle state to be considered
[in]	corner	which corner to calculate

Returns

corner point of the vehicle