Class to store data of RssVehicleAdapter. More...

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

Inheritance diagram for ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >:

Collaboration diagram for ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >:

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Public Types
enum class	RouteExtensionMode { eAllowMultipleRoutes , eAllowOnlySingleRoute , eAllowOnlyTargetRoute }
	enumeration defining the mode on route extension More...

typedef RssVehicleAdapter< OBJECT_INSTANCE_TYPE >	RssVehicleAdapterType

Public Member Functions
	RssRouteCheckerVehicleData ()=default
	default constructor

	RssRouteCheckerVehicleData (RssRouteCheckerVehicleData const &other)=default
	default copy constructor

	~RssRouteCheckerVehicleData ()
	default destrutor

RssRouteCheckerVehicleData &	operator= (const RssRouteCheckerVehicleData &other)=default
	default assignment operator

void	updateAdapter (typename RssVehicleAdapterType::Ptr vehicleAdapter)
	function to update the adapter class of this

RssVehicleAdapterType::Ptr	getAdapter ()
	function to get the adapter class of this

RssVehicleAdapterType::ConstPtr	getAdapter () const
	function to get the adapter class of this

void	updateRoutes (::ad::physics::Distance const routePreviewDistance, ::ad::map::lane::LaneIdSet const &mapAreaLanes, RouteExtensionMode routeExtensionMode=RouteExtensionMode::eAllowMultipleRoutes)
	Supporting function to update the routes of this. More...

void	normalizeAndOrderRoutes ()
	Supporting function to normalize the sum of the route likelihood to 1.0 and reorder the list in descending likelihood order.

Public Member Functions inherited from ad::rss::map::RssRouteCheckerObjectData
	RssRouteCheckerObjectData ()=default
	default constructor

	RssRouteCheckerObjectData (const RssRouteCheckerObjectData &other)=default
	default copy constructor

	~RssRouteCheckerObjectData ()=default
	default destrutor

RssRouteCheckerObjectData &	operator= (const RssRouteCheckerObjectData &other)=default
	default assignment operator

bool	operator< (RssRouteCheckerObjectData const &other)
	sorting operator to enable map usage

Public Attributes
RouteExtensionMode	mRouteExtensionMode
	the current active route extension mode

RssRouteList	mRoutes
	the sorted list of routes

std::vector<::ad::map::point::ENUPoint >	mRoutingTargets
	the list of routing target to be used for routing purposes

bool	mActive
	flag indicating if the object is active

RssObjectData	mRssObjectData
	the actual RssObjectData of this

Public Attributes inherited from ad::rss::map::RssRouteCheckerObjectData
bool	mActive {false}
	flag indicating if the object is active

bool	mClearObjectHistory {false}
	flag indicating if the object's history has to be cleared

RssObjectData	mRssObjectData
	the actual RssObjectData of this

Protected Member Functions
std::vector<::ad::map::point::ENUPoint >	handleRoutingTargets ()
	Supporting function to process routing targets.

std::vector<::ad::map::route::FullRoute >	createRoutes (::ad::physics::Distance const routePreviewDistance, ::ad::map::lane::LaneIdSet const &mapAreaLanes)
	Supporting function to create new routes. More...

void	shortenRoutes ()
	Supporting function to shorten the predicted routes. More...

void	extendRoutes (::ad::physics::Distance const routePreviewDistance, std::vector<::ad::map::point::ENUPoint > const &routingTargetsToAppend, ::ad::map::lane::LaneIdSet const &mapAreaLanes)
	Supporting function to extend the predicted routes. More...

Protected Attributes
RssRouteId	mNextRouteId {1}

bool	mExternalRoutes {false}

RssVehicleAdapterType::Ptr	mVehicleAdapter
	the current RssVehicleAdapter

Detailed Description

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

Class to store data of RssVehicleAdapter.

Member Enumeration Documentation

◆ RouteExtensionMode

template<class OBJECT_INSTANCE_TYPE >

enum ad::rss::map::RssRouteCheckerVehicleData::RouteExtensionMode

strong

enumeration defining the mode on route extension

Enumerator
eAllowMultipleRoutes	allow the creation of all possible route candidates
eAllowOnlySingleRoute	only allow the processing of one single route, additional route candidates with lower likelyhood are dropped
eAllowOnlyTargetRoute	only allow the processing of the externally provided targets for routing. No further automatic expansions, or route creations are performed.

Member Function Documentation

◆ createRoutes()

template<class OBJECT_INSTANCE_TYPE >

std::vector<::ad::map::route::FullRoute > ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::createRoutes	(	::ad::physics::Distance const	routePreviewDistance,
		::ad::map::lane::LaneIdSet const &	mapAreaLanes
	)

protected

Supporting function to create new routes.

If there are routing targets present, these are considered to create new routes to be considered (usually this results in one single route, but depending on the current vehicle positioning, this can also create a set of routes). Otherwise ::ad::map::route::planning::predictRoutesOnDistance() is used to create the routes.

Parameters

[in] routePreviewDistance indicator for the desired length of the routes

◆ extendRoutes()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::extendRoutes	(	::ad::physics::Distance const	routePreviewDistance,
		std::vector<::ad::map::point::ENUPoint > const &	routingTargetsToAppend,
		::ad::map::lane::LaneIdSet const &	mapAreaLanes
	)

protected

Supporting function to extend the predicted routes.

Parameters

[in]	routePreviewDistance	indicator for the desired length of the routes
[in]	routingTargetsToAppend	extend the route according to the routing targets to be appended

◆ shortenRoutes()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::shortenRoutes

protected

Supporting function to shorten the predicted routes.

remove the parts of the route already taken, try to prepend route sections (i.e. when driving backwards a bit) try to ensure that the back of the vehicle is still within the route to support proper orientation calculations on route

◆ updateRoutes()

template<class OBJECT_INSTANCE_TYPE >

void ad::rss::map::RssRouteCheckerVehicleData< OBJECT_INSTANCE_TYPE >::updateRoutes	(	::ad::physics::Distance const	routePreviewDistance,
		::ad::map::lane::LaneIdSet const &	mapAreaLanes,
		RouteExtensionMode	routeExtensionMode = `RouteExtensionMode::eAllowMultipleRoutes`
	)

Supporting function to update the routes of this.

Parameters

[in]	routePreviewDistance	indicator for the desired length of the routes
[in]	mapAreaLanes	resticted set of lanes from a map to be considered (allows speed up)
[in]	routeExtensionMode	defines the mode of the route extension (default: RouteExtensionMode::eAllowMultipleRoutes)

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

include/ad/rss/map/RssRouteCheckerData.hpp
include/ad/rss/map/detail/RssRouteCheckerDataDetail.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Enumeration Documentation

◆ RouteExtensionMode

Member Function Documentation

◆ createRoutes()

◆ extendRoutes()

◆ shortenRoutes()

◆ updateRoutes()

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