ad::rss::world::RssDynamics Struct Reference

DataType RssDynamics. More...

#include <ad/rss/world/RssDynamics.hpp>

Collaboration diagram for ad::rss::world::RssDynamics:

Public Types
typedef std::shared_ptr< RssDynamics >	Ptr
	Smart pointer on RssDynamics.
typedef std::shared_ptr< RssDynamics const >	ConstPtr
	Smart pointer on constant RssDynamics.

Public Member Functions
	RssDynamics ()=default
	standard constructor
	~RssDynamics ()=default
	standard destructor
	RssDynamics (const RssDynamics &other)=default
	standard copy constructor
	RssDynamics (RssDynamics &&other)=default
	standard move constructor
RssDynamics &	operator= (const RssDynamics &other)=default
	standard assignment operator More...
RssDynamics &	operator= (RssDynamics &&other)=default
	standard move operator More...
bool	operator== (const RssDynamics &other) const
	standard comparison operator More...
bool	operator!= (const RssDynamics &other) const
	standard comparison operator More...

Public Attributes
::ad::rss::world::LongitudinalRssAccelerationValues	alpha_lon
::ad::rss::world::LateralRssAccelerationValues	alpha_lat
::ad::physics::Distance	lateral_fluctuation_margin {0.0}
::ad::physics::Duration	response_time
::ad::physics::Speed	max_speed_on_acceleration {100}
::ad::rss::world::UnstructuredSettings	unstructured_settings
::ad::physics::Distance	min_longitudinal_safety_distance {0.0}

Detailed Description

DataType RssDynamics.

Describes the RSS dynamics values to be applied for an object within the metric world frame. The dynamics consist of a longitudinal component, a lateral component and a lateral fluctuation margin to be taken into account to compensate for lateral fluctuations.

Member Function Documentation

operator!=()

bool ad::rss::world::RssDynamics::operator!= ( const RssDynamics &  other ) const

inline

standard comparison operator

Parameters

[in]

other

Other RssDynamics.

Returns

true if both RssDynamics are different

operator=() [1/2]

RssDynamics& ad::rss::world::RssDynamics::operator= ( const RssDynamics &  other )

default

standard assignment operator

Parameters

[in]

other

Other RssDynamics

Returns

Reference to this RssDynamics.

operator=() [2/2]

RssDynamics& ad::rss::world::RssDynamics::operator= ( RssDynamics &&  other )

default

standard move operator

Parameters

[in]

other

Other RssDynamics

Returns

Reference to this RssDynamics.

operator==()

bool ad::rss::world::RssDynamics::operator== ( const RssDynamics &  other ) const

inline

standard comparison operator

Parameters

[in]

other

Other RssDynamics

Returns

true if both RssDynamics are equal

Member Data Documentation

alpha_lat

::ad::rss::world::LateralRssAccelerationValues ad::rss::world::RssDynamics::alpha_lat

RSS dynamics values along lateral coordinate system axis.

alpha_lon

::ad::rss::world::LongitudinalRssAccelerationValues ad::rss::world::RssDynamics::alpha_lon

RSS dynamics values along longitudinal coordinate system axis.

lateral_fluctuation_margin

::ad::physics::Distance ad::rss::world::RssDynamics::lateral_fluctuation_margin {0.0}

Defines the lateral fluctuation margin to be taken into account.

max_speed_on_acceleration

::ad::physics::Speed ad::rss::world::RssDynamics::max_speed_on_acceleration {100}

Defines the maximum speed of the object to be considered while acceleration within the response time. The acceleration will be stopped if this speed limit is reached. In case the speed before the acceleration is already higher or equal to this value, no further acceleration will take place during the response time (in this case speed before response time == speed after response time).

min_longitudinal_safety_distance

::ad::physics::Distance ad::rss::world::RssDynamics::min_longitudinal_safety_distance {0.0}

The minimum longitudinal safety distance to be applied (defaults 0.) In structured case after the rss_longitudinal_safe_distance is calculated according to RSS formulas, this parameter value is added to the resulting safe distance: safe_distance += min_longitudinal_safety_distance, in unstructured case the ego vehicle is expanded by that distance towards the front before the trajectory sets are calculated. Therefore, this parameter value ensures the ego to be able to brake and keep a distance of min_longitudinal_safety_distance to the dangerous object or intersection area.

response_time

::ad::physics::Duration ad::rss::world::RssDynamics::response_time

Defines the response time of the object to be considered.

unstructured_settings

::ad::rss::world::UnstructuredSettings ad::rss::world::RssDynamics::unstructured_settings

Settings to be considered for evaluation in unstructured mode.

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

• generated/include/ad/rss/world/RssDynamics.hpp