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	pedestrian_turning_radius

::ad::physics::Angle	drive_away_max_angle

::ad::physics::AngularAcceleration	vehicle_yaw_rate_change

::ad::physics::Distance	vehicle_min_radius

::ad::physics::Duration	vehicle_trajectory_calculation_step

uint32_t	vehicle_front_intermediate_yaw_rate_change_ratio_steps {0}

uint32_t	vehicle_back_intermediate_yaw_rate_change_ratio_steps {0}

uint32_t	vehicle_brake_intermediate_acceleration_steps {0}

uint32_t	vehicle_continue_forward_intermediate_acceleration_steps {0}

uint32_t	vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps {0}

uint32_t	pedestrian_continue_forward_intermediate_heading_change_ratio_steps {0}

uint32_t	pedestrian_continue_forward_intermediate_acceleration_steps {0}

uint32_t	pedestrian_brake_intermediate_acceleration_steps {0}

uint32_t	pedestrian_front_intermediate_heading_change_ratio_steps {0}

uint32_t	pedestrian_back_intermediate_heading_change_ratio_steps {0}

Detailed Description

DataType UnstructuredSettings.

Parameter settings to be used for unstructured constellation handling.

Member Function Documentation

◆ operator!=()

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

inline

standard comparison operator

Parameters

[in] other Other 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] other Other UnstructuredSettings

Returns: Reference to this UnstructuredSettings.

◆ operator=() [2/2]

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

default

standard move operator

Parameters

[in] other Other UnstructuredSettings

Returns: Reference to this UnstructuredSettings.

◆ operator==()

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

inline

standard comparison operator

Parameters

[in] other Other UnstructuredSettings

Returns: true if both UnstructuredSettings are equal

Member Data Documentation

◆ drive_away_max_angle

::ad::physics::Angle ad::rss::world::UnstructuredSettings::drive_away_max_angle

In certain constellations 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.

◆ pedestrian_back_intermediate_heading_change_ratio_steps

uint32_t ad::rss::world::UnstructuredSettings::pedestrian_back_intermediate_heading_change_ratio_steps {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.

◆ pedestrian_brake_intermediate_acceleration_steps

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

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

◆ pedestrian_continue_forward_intermediate_acceleration_steps

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

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

◆ pedestrian_continue_forward_intermediate_heading_change_ratio_steps

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

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

◆ pedestrian_front_intermediate_heading_change_ratio_steps

uint32_t ad::rss::world::UnstructuredSettings::pedestrian_front_intermediate_heading_change_ratio_steps {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.

◆ pedestrian_turning_radius

::ad::physics::Distance ad::rss::world::UnstructuredSettings::pedestrian_turning_radius

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.

◆ vehicle_back_intermediate_yaw_rate_change_ratio_steps

uint32_t ad::rss::world::UnstructuredSettings::vehicle_back_intermediate_yaw_rate_change_ratio_steps {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.

◆ vehicle_brake_intermediate_acceleration_steps

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

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

◆ vehicle_continue_forward_intermediate_acceleration_steps

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

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

◆ vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps

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

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

◆ vehicle_front_intermediate_yaw_rate_change_ratio_steps

uint32_t ad::rss::world::UnstructuredSettings::vehicle_front_intermediate_yaw_rate_change_ratio_steps {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.

◆ vehicle_min_radius

::ad::physics::Distance ad::rss::world::UnstructuredSettings::vehicle_min_radius

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

◆ vehicle_trajectory_calculation_step

::ad::physics::Duration ad::rss::world::UnstructuredSettings::vehicle_trajectory_calculation_step

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.

◆ vehicle_yaw_rate_change

::ad::physics::AngularAcceleration ad::rss::world::UnstructuredSettings::vehicle_yaw_rate_change

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:

generated/include/ad/rss/world/UnstructuredSettings.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ operator!=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

Member Data Documentation

◆ drive_away_max_angle

◆ pedestrian_back_intermediate_heading_change_ratio_steps

◆ pedestrian_brake_intermediate_acceleration_steps

◆ pedestrian_continue_forward_intermediate_acceleration_steps

◆ pedestrian_continue_forward_intermediate_heading_change_ratio_steps

◆ pedestrian_front_intermediate_heading_change_ratio_steps

◆ pedestrian_turning_radius

◆ vehicle_back_intermediate_yaw_rate_change_ratio_steps

◆ vehicle_brake_intermediate_acceleration_steps

◆ vehicle_continue_forward_intermediate_acceleration_steps

◆ vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps

◆ vehicle_front_intermediate_yaw_rate_change_ratio_steps

◆ vehicle_min_radius

◆ vehicle_trajectory_calculation_step

◆ vehicle_yaw_rate_change