ad_rss
Public Types | Public Member Functions | Public Attributes | List of all members
ad::rss::world::UnstructuredSettings Struct Reference

DataType UnstructuredSettings. More...

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

Public Types

typedef std::shared_ptr< UnstructuredSettings > Ptr
 Smart pointer on UnstructuredSettings.
 
typedef std::shared_ptr< UnstructuredSettings const > ConstPtr
 Smart pointer on constant UnstructuredSettings.
 

Public Member Functions

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

Public Attributes

::ad::physics::Distance pedestrianTurningRadius
 
::ad::physics::Angle driveAwayMaxAngle
 
::ad::physics::AngularAcceleration vehicleYawRateChange
 
::ad::physics::Distance vehicleMinRadius
 
::ad::physics::Duration vehicleTrajectoryCalculationStep
 
uint32_t vehicleFrontIntermediateYawRateChangeRatioSteps {0}
 
uint32_t vehicleBackIntermediateYawRateChangeRatioSteps {0}
 
uint32_t vehicleBrakeIntermediateAccelerationSteps {0}
 
uint32_t vehicleContinueForwardIntermediateAccelerationSteps {0}
 
uint32_t vehicleContinueForwardIntermediateYawRateChangeRatioSteps {0}
 
uint32_t pedestrianContinueForwardIntermediateHeadingChangeRatioSteps {0}
 
uint32_t pedestrianContinueForwardIntermediateAccelerationSteps {0}
 
uint32_t pedestrianBrakeIntermediateAccelerationSteps {0}
 
uint32_t pedestrianFrontIntermediateHeadingChangeRatioSteps {0}
 
uint32_t pedestrianBackIntermediateHeadingChangeRatioSteps {0}
 

Detailed Description

DataType UnstructuredSettings.

Parameter settings to be used for unstructured scene handling.

Member Function Documentation

◆ operator!=()

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

standard comparison operator

Parameters
[in]otherOther UnstructuredSettings.
Returns
true if both UnstructuredSettings are different

◆ operator=() [1/2]

UnstructuredSettings& ad::rss::world::UnstructuredSettings::operator= ( const UnstructuredSettings &  other)
default

standard assignment operator

Parameters
[in]otherOther UnstructuredSettings
Returns
Reference to this UnstructuredSettings.

◆ operator=() [2/2]

UnstructuredSettings& ad::rss::world::UnstructuredSettings::operator= ( UnstructuredSettings &&  other)
default

standard move operator

Parameters
[in]otherOther UnstructuredSettings
Returns
Reference to this UnstructuredSettings.

◆ operator==()

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

standard comparison operator

Parameters
[in]otherOther UnstructuredSettings
Returns
true if both UnstructuredSettings are equal

Member Data Documentation

◆ driveAwayMaxAngle

::ad::physics::Angle ad::rss::world::UnstructuredSettings::driveAwayMaxAngle

In certain situations the ego vehicle might be allowed to drive away from a dangerous object using a given heading range. This parameter defines the maximum possible angle the vehicle is able to drive away.

◆ pedestrianBackIntermediateHeadingChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::pedestrianBackIntermediateHeadingChangeRatioSteps {0}

During calculation of the trajectory set, multiple heading change ratios are used. The default is max left, max right and no yaw rate change. By specifying a value larger than zero more intermediate steps are used. The value is specifying the steps on one side, therefore the resulting intermedate steps are twice this value. This value is used for the back of the trajectory set.

◆ pedestrianBrakeIntermediateAccelerationSteps

uint32_t ad::rss::world::UnstructuredSettings::pedestrianBrakeIntermediateAccelerationSteps {0}

Specifies the intermediate steps used while calculating the brake trajectory set.

◆ pedestrianContinueForwardIntermediateAccelerationSteps

uint32_t ad::rss::world::UnstructuredSettings::pedestrianContinueForwardIntermediateAccelerationSteps {0}

Specifies the intermediate steps used while calculating the continue forward trajectory set.

◆ pedestrianContinueForwardIntermediateHeadingChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::pedestrianContinueForwardIntermediateHeadingChangeRatioSteps {0}

Specifies the intermediate heading change ratio steps used while calculating the continue forward trajectory set.

◆ pedestrianFrontIntermediateHeadingChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::pedestrianFrontIntermediateHeadingChangeRatioSteps {0}

During calculation of the trajectory set, multiple heading change ratios are used. The default is max left, max right and no heading change. By specifying a value larger than zero more intermediate steps are used. The value is specifying the steps on one side, therefore the resulting intermedate steps are twice this value. This value is used for the front of the trajectory set.

◆ pedestrianTurningRadius

::ad::physics::Distance ad::rss::world::UnstructuredSettings::pedestrianTurningRadius

The change of heading |h'(t)| is limited. That means, the maximum trajectory is defined by a circle until response time. This parameter specifies the radius of that circle.

◆ vehicleBackIntermediateYawRateChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::vehicleBackIntermediateYawRateChangeRatioSteps {0}

During calculation of the trajectory set, multiple yaw rate ratios are used. The default is max left, max right and no yaw rate change. By specifying a value larger than zero more intermediate steps are used. The value is specifying the steps on one side, therefore the resulting intermedate steps are twice this value. This value is used for the back of the trajectory set.

◆ vehicleBrakeIntermediateAccelerationSteps

uint32_t ad::rss::world::UnstructuredSettings::vehicleBrakeIntermediateAccelerationSteps {0}

Specifies the intermediate acceleration steps (between brakeMax and brakeMin) used while calculating the cbrake trajectory set.

◆ vehicleContinueForwardIntermediateAccelerationSteps

uint32_t ad::rss::world::UnstructuredSettings::vehicleContinueForwardIntermediateAccelerationSteps {0}

Specifies the intermediate acceleration steps (between brakeMin and accelMax) used while calculating the continue forward trajectory set.

◆ vehicleContinueForwardIntermediateYawRateChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::vehicleContinueForwardIntermediateYawRateChangeRatioSteps {0}

Specifies the intermediate yaw rate change ratio steps used while calculating the continue forward trajectory set.

◆ vehicleFrontIntermediateYawRateChangeRatioSteps

uint32_t ad::rss::world::UnstructuredSettings::vehicleFrontIntermediateYawRateChangeRatioSteps {0}

During calculation of the trajectory set, multiple yaw rate ratios are used. The default is max left, max right and no yaw rate change. By specifying a value larger than zero more intermediate steps are used. The value is specifying the steps on one side, therefore the resulting intermedate steps are twice this value. This value is used for the front of the trajectory set.

◆ vehicleMinRadius

::ad::physics::Distance ad::rss::world::UnstructuredSettings::vehicleMinRadius

Defines the minimal radius a vehicle is able to drive on.

◆ vehicleTrajectoryCalculationStep

::ad::physics::Duration ad::rss::world::UnstructuredSettings::vehicleTrajectoryCalculationStep

The current unstructured implementation calculates the location and heading based on time increments. That might lead to an increasing error the farer the point is. This parameter defines the time interval for this incremental calculation.

◆ vehicleYawRateChange

::ad::physics::AngularAcceleration ad::rss::world::UnstructuredSettings::vehicleYawRateChange

The change of the heading h'(t) is limited while the response time. This specifies the maximum change of the yaw rate during response time.

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