forward declaration of RssRouteCheckerControl class More...

#include <ad/rss/map/RssRouteCheckerControl.hpp>

Public Types
typedef std::shared_ptr< RssRouteCheckerControl >	Ptr
	Smart pointer on RssObjectAdapter.

typedef std::shared_ptr< RssRouteCheckerControl const >	ConstPtr
	Smart pointer on constant RssObjectAdapter.

using	DefaultRssDynamicsCallbackFunctionType = std::function<::ad::rss::world::RssDynamics(OBJECT_INSTANCE_TYPE vehicle)>
	Callback function type to query the default RSS parameters to be used for the given other vehicle instance.

using	VehicleConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration(::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &vehicleObject, OBJECT_INSTANCE_TYPE vehicle)>
	Callback function type to query the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations. More...

using	PedestrianConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration(::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &pedestrianObject, OBJECT_INSTANCE_TYPE pedestrian)>
	Callback function type to query the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations. More...

using	ArtificialObjectConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration(::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &artificialObject)>
	Callback function type to query the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations. More...

using	RssRoutingTargetOperation = typename RssVehicleAdapter< OBJECT_INSTANCE_TYPE >::RssRoutingTargetOperation
	RssRoutingTargetOperation type from RssVehicleAdapter.

using	RssRoutingTargetCommand = typename RssVehicleAdapter< OBJECT_INSTANCE_TYPE >::RssRoutingTargetCommand
	RssRoutingTargetCommand type from RssVehicleAdapter.

Public Member Functions
	RssRouteCheckerControl ()=default
	default constructor

virtual	~RssRouteCheckerControl ()=default
	default destructor

void	registerDefaultRssDynamicsCallback (::ad::rss::world::ObjectType const objectType, DefaultRssDynamicsCallbackFunctionType callback)
	Register a callback function to query the default RSS parameters to be used for the respective vehicle instance of given objectType.

bool	isDefaultRssDynamicsCallbackRegistered (::ad::rss::world::ObjectType const objectType) const

::ad::rss::world::RssDynamics	getDefaultRssDynamics (::ad::rss::world::ObjectType const objectType, OBJECT_INSTANCE_TYPE vehicle) const

void	registerVehicleConstellationCallback (VehicleConstellationCallbackFunctionType callback)
	Register a callback function to query the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations.

bool	isVehicleConstellationCallbackRegistered () const

::ad::rss::map::RssConstellationConfiguration	getVehicleConstellation (::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &vehicleObject, OBJECT_INSTANCE_TYPE vehicle) const
	Returns the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter) More...

void	registerPedestrianConstellationCallback (PedestrianConstellationCallbackFunctionType callback)
	Register a callback function to query the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations.

bool	isPedestrianConstellationCallbackRegistered () const

::ad::rss::map::RssConstellationConfiguration	getPedestrianConstellation (::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &pedestrianObject, OBJECT_INSTANCE_TYPE pedestrian) const
	Returns the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter) More...

void	registerArtificialObjectConstellationCallback (ArtificialObjectConstellationCallbackFunctionType callback)
	Register a callback function to query the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations.

bool	isArtificialObjectConstellationCallbackRegistered () const

::ad::rss::map::RssConstellationConfiguration	getArtificialObjectConstellation (::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &artificialObject) const
	Returns the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter) (can be used by derivatives of RssRouteChecker) More...

void	setRoadBoundariesMode (const ::ad::rss::map::RssAppendRoadBoundariesMode roadBoundariesMode)
	sets the current mode for respecting the road boundaries

::ad::rss::map::RssAppendRoadBoundariesMode	getRoadBoundariesMode () const

void	setCurrentGreenTrafficLights (::ad::map::landmark::LandmarkIdSet const &currentGreenTrafficLights)
	sets the current green traffic lights to be considered

::ad::map::landmark::LandmarkIdSet	getCurrentGreenTrafficLights () const

void	setPositionJumpTraveledDistance (ad::physics::Distance const positionJumpTraveledDistance)
	sets the distance interpreted as a jump of a vehicle triggering new route calucations

ad::physics::Distance	getPositionJumpTraveledDistance () const
	gets the distance interpreted as a jump of a vehicle triggering new route calucations

void	setMinimumDistanceToObjectsThatHaveToBeAnalyzed (ad::physics::Distance const minimumDistanceToObjectsThatHaveToBeAnalyzed)
	Sets the distance below which a detailed analysis becomes necessary regardless of the objects stopping distance estimates. More...

ad::physics::Distance	getMinimumDistanceToObjectsThatHaveToBeAnalyzed () const
	Defines the distance below which a detailed analysis becomes necessary regardless of the objects stopping distance estimates. More...

void	setConsiderPositionConfidence (bool const consider_position_confidence)

bool	getConsiderPositionConfidence ()

void	setLogLevel (const spdlog::level::level_enum logLevel)
	sets the current log level

void	setMapLogLevel (const spdlog::level::level_enum mapLogLevel)
	sets the current map log level

void	setActiveRoutingTargets (ad::rss::world::ObjectId vehicleId, ::ad::map::point::ENUPointList const &activeRoutingTargets)
	sets the the current active routing targets (called by RssVehicleAdapter) More...

::ad::map::point::ENUPointList	getActiveRoutingTargets (ad::rss::world::ObjectId vehicleId) const

void	appendRoutingTargets (ad::rss::world::ObjectId vehicleId, ::ad::map::point::ENUPointList const &routingTargetsToAppend)
	appends a list of routing targets to the current routing target list of the respective vehicle More...

void	replaceRoutingTargets (ad::rss::world::ObjectId vehicleId, ::ad::map::point::ENUPointList const &newRoutingTargets)
	replaces the current routing targets of the respective vehicle More...

RssRoutingTargetOperation	getCurrentRoutingTargetOperation (ad::rss::world::ObjectId vehicleId)

void	dropRoute (ad::rss::world::ObjectId vehicleId)
	drop the current route of the respective vehicle More...

void	dropVehicle (ad::rss::world::ObjectId vehicleId)
	erase all data of a vehicle from internal lists (called by ~RssVehicleAdapter)

Detailed Description

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >

forward declaration of RssRouteCheckerControl class

class for interacting with the RssRouteChecker in a thread safe manner

Allows to register callbacks and configuration values that get called on calculations of RssRouteChecker via the RssObjectAdapter classes default implementations.

Member Typedef Documentation

◆ ArtificialObjectConstellationCallbackFunctionType

template<class OBJECT_INSTANCE_TYPE >

using ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::ArtificialObjectConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration( ::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &artificialObject)>

Callback function type to query the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations.

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	artificialObject	the artificial object data of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

◆ PedestrianConstellationCallbackFunctionType

template<class OBJECT_INSTANCE_TYPE >

using ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::PedestrianConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration(::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &pedestrianObject, OBJECT_INSTANCE_TYPE pedestrian)>

Callback function type to query the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations.

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	pedestrianObject	the pedestrian object data of this constellation
[in]	pedestrian	the pedestrian instance pointer of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

◆ VehicleConstellationCallbackFunctionType

template<class OBJECT_INSTANCE_TYPE >

using ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::VehicleConstellationCallbackFunctionType = std::function<::ad::rss::map::RssConstellationConfiguration(::ad::rss::map::RssRoute const &route, ::ad::rss::map::RssObjectData const &egoVehicleObject, OBJECT_INSTANCE_TYPE egoVehicle, ::ad::rss::map::RssObjectData const &vehicleObject, OBJECT_INSTANCE_TYPE vehicle)>

Callback function type to query the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations.

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	vehicleObject	the vehicle object data of this constellation
[in]	vehicle	the vehicle instance pointer of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

Member Function Documentation

◆ appendRoutingTargets()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::appendRoutingTargets	(	ad::rss::world::ObjectId	vehicleId,
		::ad::map::point::ENUPointList const &	routingTargetsToAppend
	)

inline

appends a list of routing targets to the current routing target list of the respective vehicle

Parameters

[in]	vehicleId	object id of the vehicle to append the routing targets
[in]	routingTargetsToAppend	the routing targets to append

◆ dropRoute()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::dropRoute ( ad::rss::world::ObjectId vehicleId )

inline

drop the current route of the respective vehicle

Enforces a new route calculation of the vehicle by replacing the routing targets with the current active ones.

Parameters

[in] vehicleId object id of the vehicle to replace the routing targets

◆ getActiveRoutingTargets()

template<class OBJECT_INSTANCE_TYPE >

::ad::map::point::ENUPointList ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getActiveRoutingTargets ( ad::rss::world::ObjectId vehicleId ) const

inline

Returns: the the current active routing targets of the respective vehicle

Parameters

[in] vehicleId object id of the vehicle reporting its active routing targets

◆ getArtificialObjectConstellation()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::map::RssConstellationConfiguration ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getArtificialObjectConstellation	(	::ad::rss::map::RssRoute const &	route,
		::ad::rss::map::RssObjectData const &	egoVehicleObject,
		OBJECT_INSTANCE_TYPE	egoVehicle,
		::ad::rss::map::RssObjectData const &	artificialObject
	)		const

inline

Returns the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter) (can be used by derivatives of RssRouteChecker)

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	artificialObject	the artificial object data of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

◆ getCurrentGreenTrafficLights()

template<class OBJECT_INSTANCE_TYPE >

::ad::map::landmark::LandmarkIdSet ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getCurrentGreenTrafficLights ( ) const

inline

Returns: the current green traffic lights to be considered (called by RssEgoVehicleAdapter)

◆ getCurrentRoutingTargetOperation()

template<class OBJECT_INSTANCE_TYPE >

RssRoutingTargetOperation ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getCurrentRoutingTargetOperation ( ad::rss::world::ObjectId vehicleId )

inline

Returns: the current routing target operation of the respective vehicle (called by RssVehicleAdapter)

Parameters

[in] vehicleId object id of the vehicle to apply the routing target operation

◆ getDefaultRssDynamics()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::world::RssDynamics ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getDefaultRssDynamics	(	::ad::rss::world::ObjectType const	objectType,
		OBJECT_INSTANCE_TYPE	vehicle
	)		const

inline

Returns: the default RSS parameters to be used for the given vehicle instance of given objectType by calling the registered callback function (called by RssVehicleAdapter)

If no callback function is registered an invalid default constructed ::ad::rss::world::RssDynamics() is returned.

◆ getMinimumDistanceToObjectsThatHaveToBeAnalyzed()

template<class OBJECT_INSTANCE_TYPE >

ad::physics::Distance ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getMinimumDistanceToObjectsThatHaveToBeAnalyzed ( ) const

inline

Defines the distance below which a detailed analysis becomes necessary regardless of the objects stopping distance estimates.

Far away object might not be analyzed in detail, if the stopping distances allow it

◆ getPedestrianConstellation()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::map::RssConstellationConfiguration ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getPedestrianConstellation	(	::ad::rss::map::RssRoute const &	route,
		::ad::rss::map::RssObjectData const &	egoVehicleObject,
		OBJECT_INSTANCE_TYPE	egoVehicle,
		::ad::rss::map::RssObjectData const &	pedestrianObject,
		OBJECT_INSTANCE_TYPE	pedestrian
	)		const

inline

Returns the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter)

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	pedestrianObject	the pedestrian object data of this constellation
[in]	pedestrian	the pedestrian instance pointer of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

◆ getRoadBoundariesMode()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::map::RssAppendRoadBoundariesMode ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getRoadBoundariesMode ( ) const

inline

Returns: the current mode for respecting the road boundaries (called by RssEgoVehicleAdapter)

◆ getVehicleConstellation()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::map::RssConstellationConfiguration ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::getVehicleConstellation	(	::ad::rss::map::RssRoute const &	route,
		::ad::rss::map::RssObjectData const &	egoVehicleObject,
		OBJECT_INSTANCE_TYPE	egoVehicle,
		::ad::rss::map::RssObjectData const &	vehicleObject,
		OBJECT_INSTANCE_TYPE	vehicle
	)		const

inline

Returns the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations by calling the registered callback function (called by RssEgoVehicleAdapter)

Parameters

[in]	route	The current route of the ego vehicle under consideration
[in]	egoVehicleObject	the ego vehicle object data of this constellation
[in]	egoVehicle	the ego vehicle instance pointer of this constellation
[in]	vehicleObject	the other vehicle object data of this constellation
[in]	vehicle	the other vehicle instance pointer of this constellation

Returns: RssConstellationConfiguration to be used for the constellation

◆ isArtificialObjectConstellationCallbackRegistered()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::isArtificialObjectConstellationCallbackRegistered ( ) const

inline

Returns: true if a callback function to query the RssConstellationConfiguration of a concrete artificial object constellation within the RssRouteChecker calculations is registered

◆ isDefaultRssDynamicsCallbackRegistered()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::isDefaultRssDynamicsCallbackRegistered ( ::ad::rss::world::ObjectType const objectType ) const

inline

Returns: true if a callback function to query the default RSS parameters to be used for the respective vehicle instance of given objectType is registered

◆ isPedestrianConstellationCallbackRegistered()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::isPedestrianConstellationCallbackRegistered ( ) const

inline

Returns: true if a callback function to query the RssConstellationConfiguration of a concrete pedestrian constellation within the RssRouteChecker calculations is registered

◆ isVehicleConstellationCallbackRegistered()

template<class OBJECT_INSTANCE_TYPE >

bool ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::isVehicleConstellationCallbackRegistered ( ) const

inline

Returns: true if a callback function to query the RssConstellationConfiguration of a concrete vehicle constellation within the RssRouteChecker calculations is registered

◆ replaceRoutingTargets()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::replaceRoutingTargets	(	ad::rss::world::ObjectId	vehicleId,
		::ad::map::point::ENUPointList const &	newRoutingTargets
	)

inline

replaces the current routing targets of the respective vehicle

Parameters

[in]	vehicleId	object id of the vehicle to replace the routing targets
[in]	newRoutingTargets	the new routing targets to be applied

◆ setActiveRoutingTargets()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::setActiveRoutingTargets	(	ad::rss::world::ObjectId	vehicleId,
		::ad::map::point::ENUPointList const &	activeRoutingTargets
	)

inline

sets the the current active routing targets (called by RssVehicleAdapter)

Parameters

[in]	vehicleId	object id of the vehicle reporting its active routing targets
[in]	activeRoutingTargets	the active routing targets

◆ setMinimumDistanceToObjectsThatHaveToBeAnalyzed()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::setMinimumDistanceToObjectsThatHaveToBeAnalyzed ( ad::physics::Distance const minimumDistanceToObjectsThatHaveToBeAnalyzed )

inline

Sets the distance below which a detailed analysis becomes necessary regardless of the objects stopping distance estimates.

Far away object might not be analyzed in detail, if the stopping distances allow it

The documentation for this class was generated from the following files:

include/ad/rss/map/RssObjectInstance.hpp
include/ad/rss/map/RssRouteCheckerControl.hpp

Public Types

Public Member Functions

Detailed Description

template<class OBJECT_INSTANCE_TYPE> class ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >

Member Typedef Documentation

◆ ArtificialObjectConstellationCallbackFunctionType

◆ PedestrianConstellationCallbackFunctionType

◆ VehicleConstellationCallbackFunctionType

Member Function Documentation

◆ appendRoutingTargets()

◆ dropRoute()

◆ getActiveRoutingTargets()

◆ getArtificialObjectConstellation()

◆ getCurrentGreenTrafficLights()

◆ getCurrentRoutingTargetOperation()

◆ getDefaultRssDynamics()

◆ getMinimumDistanceToObjectsThatHaveToBeAnalyzed()

◆ getPedestrianConstellation()

◆ getRoadBoundariesMode()

◆ getVehicleConstellation()

◆ isArtificialObjectConstellationCallbackRegistered()

◆ isDefaultRssDynamicsCallbackRegistered()

◆ isPedestrianConstellationCallbackRegistered()

◆ isVehicleConstellationCallbackRegistered()

◆ replaceRoutingTargets()

◆ setActiveRoutingTargets()

◆ setMinimumDistanceToObjectsThatHaveToBeAnalyzed()

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >