traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner Class Reference

#include <longitudinal_speed_planning.hpp>

Public Member Functions
	LongitudinalSpeedPlanner (const double step_time, const std::string &entity)
auto	getDynamicStates (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &, const geometry_msgs::msg::Twist &current_twist, const geometry_msgs::msg::Accel &current_accel) const -> std::tuple< geometry_msgs::msg::Twist, geometry_msgs::msg::Accel, double >
auto	getAccelerationDuration (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &, const geometry_msgs::msg::Twist &current_twist, const geometry_msgs::msg::Accel &current_accel) const -> double
auto	planConstraintsFromJerkAndTimeConstraint (double target_speed, const geometry_msgs::msg::Twist &current_twist, const geometry_msgs::msg::Accel &current_accel, double acceleration_duration, const traffic_simulator_msgs::msg::DynamicConstraints &constraints) -> traffic_simulator_msgs::msg::DynamicConstraints
auto	getRunningDistance (double target_speed, const traffic_simulator_msgs::msg::DynamicConstraints &, const geometry_msgs::msg::Twist &current_twist, const geometry_msgs::msg::Accel &current_accel, double current_linear_jerk) const -> double
auto	isAccelerating (double target_speed, const geometry_msgs::msg::Twist &current_twist) const -> bool
auto	isDecelerating (double target_speed, const geometry_msgs::msg::Twist &current_twist) const -> bool
auto	isTargetSpeedReached (double target_speed, const geometry_msgs::msg::Twist &current_twist, double tolerance=0.01) const noexcept -> bool

Public Attributes
const double	step_time
const std::string	entity

Constructor & Destructor Documentation

LongitudinalSpeedPlanner()

traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::LongitudinalSpeedPlanner ( const double  step_time, const std::string &  entity  )

explicit

Member Function Documentation

getAccelerationDuration()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::getAccelerationDuration	(	double	target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints,
		const geometry_msgs::msg::Twist &	current_twist,
		const geometry_msgs::msg::Accel &	current_accel
	)		const -> double

getDynamicStates()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::getDynamicStates	(	double	target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints,
		const geometry_msgs::msg::Twist &	current_twist,
		const geometry_msgs::msg::Accel &	current_accel
	)		const -> std::tuple<geometry_msgs::msg::Twist, geometry_msgs::msg::Accel, double>

getRunningDistance()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::getRunningDistance	(	double	target_speed,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints,
		const geometry_msgs::msg::Twist &	current_twist,
		const geometry_msgs::msg::Accel &	current_accel,
		double	current_linear_jerk
	)		const -> double

A value of 0.01 is the allowable range for determination of target speed attainment. This value was determined heuristically rather than for technical reasons.

isAccelerating()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::isAccelerating	(	double	target_speed,
		const geometry_msgs::msg::Twist &	current_twist
	)		const -> bool

isDecelerating()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::isDecelerating	(	double	target_speed,
		const geometry_msgs::msg::Twist &	current_twist
	)		const -> bool

isTargetSpeedReached()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::isTargetSpeedReached ( double  target_speed, const geometry_msgs::msg::Twist &  current_twist, double  tolerance = 0.01  ) const -> bool

noexcept

planConstraintsFromJerkAndTimeConstraint()

auto traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::planConstraintsFromJerkAndTimeConstraint	(	double	target_speed,
		const geometry_msgs::msg::Twist &	current_twist,
		const geometry_msgs::msg::Accel &	current_accel,
		double	acceleration_duration,
		const traffic_simulator_msgs::msg::DynamicConstraints &	constraints
	)		-> traffic_simulator_msgs::msg::DynamicConstraints

Member Data Documentation

entity

const std::string traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::entity

step_time

const double traffic_simulator::longitudinal_speed_planning::LongitudinalSpeedPlanner::step_time

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

• simulation/traffic_simulator/include/traffic_simulator/behavior/longitudinal_speed_planning.hpp
• simulation/traffic_simulator/src/behavior/longitudinal_speed_planning.cpp