Detailed Description

template<typename T>
class delphyne::IdmPlannerParameters< T >

Specializes BasicVector with specific getters and setters.

#include <src/gen/idm_planner_parameters.h>

Inheritance diagram for IdmPlannerParameters< T >:

Public Types
typedef IdmPlannerParametersIndices	K
	An abbreviation for our row index constants. More...

Public Member Functions
	IdmPlannerParameters ()
	Default constructor. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible,
MoveAssignable
	IdmPlannerParameters (const IdmPlannerParameters &other)

	IdmPlannerParameters (IdmPlannerParameters &&other) noexcept

IdmPlannerParameters &	operator= (const IdmPlannerParameters &other)

IdmPlannerParameters &	operator= (IdmPlannerParameters &&other) noexcept

template<typename U = T>
std::enable_if< std::is_same< U, drake::symbolic::Expression >::value >::type	SetToNamedVariables ()
	Create a drake::symbolic::Variable for each element with the known variable name. More...

IdmPlannerParameters< T > *	DoClone () const final

Getters and Setters
const T &	v_ref () const
	desired velocity in free traffic More...

void	set_v_ref (const T &v_ref)
	Setter that matches v_ref(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_v_ref (const T &v_ref) const
	Fluent setter that matches v_ref(). More...

const T &	a () const
	max acceleration More...

void	set_a (const T &a)
	Setter that matches a(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_a (const T &a) const
	Fluent setter that matches a(). More...

const T &	b () const
	comfortable braking deceleration More...

void	set_b (const T &b)
	Setter that matches b(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_b (const T &b) const
	Fluent setter that matches b(). More...

const T &	s_0 () const
	minimum desired net distance More...

void	set_s_0 (const T &s_0)
	Setter that matches s_0(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_s_0 (const T &s_0) const
	Fluent setter that matches s_0(). More...

const T &	time_headway () const
	desired time headway to vehicle in front More...

void	set_time_headway (const T &time_headway)
	Setter that matches time_headway(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_time_headway (const T &time_headway) const
	Fluent setter that matches time_headway(). More...

const T &	delta () const
	free-road exponent More...

void	set_delta (const T &delta)
	Setter that matches delta(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_delta (const T &delta) const
	Fluent setter that matches delta(). More...

const T &	bloat_diameter () const
	diameter of circle about the vehicle's pose that encloses its physical footprint More...

void	set_bloat_diameter (const T &bloat_diameter)
	Setter that matches bloat_diameter(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_bloat_diameter (const T &bloat_diameter) const
	Fluent setter that matches bloat_diameter(). More...

const T &	distance_lower_limit () const
	lower saturation bound on net distance to prevent near-singular IDM solutions More...

void	set_distance_lower_limit (const T &distance_lower_limit)
	Setter that matches distance_lower_limit(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_distance_lower_limit (const T &distance_lower_limit) const
	Fluent setter that matches distance_lower_limit(). More...

const T &	scan_ahead_distance () const
	distance to scan ahead on road for a leading vehicle More...

void	set_scan_ahead_distance (const T &scan_ahead_distance)
	Setter that matches scan_ahead_distance(). More...

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters< T >	with_scan_ahead_distance (const T &scan_ahead_distance) const
	Fluent setter that matches scan_ahead_distance(). More...

drake::boolean< T >	IsValid () const
	Returns whether the current values of this vector are well-formed. More...

void	GetElementBounds (Eigen::VectorXd lower, Eigen::VectorXd upper) const final

static const std::vector< std::string > &	GetCoordinateNames ()
	See IdmPlannerParametersIndices::GetCoordinateNames(). More...

Member Typedef Documentation

◆ K

typedef IdmPlannerParametersIndices K

An abbreviation for our row index constants.

Constructor & Destructor Documentation

◆ IdmPlannerParameters() [1/3]

IdmPlannerParameters ( )

Default constructor.

Sets all rows to their default value:

v_ref defaults to 10.0 m/s.
a defaults to 1.0 m/s^2.
b defaults to 3.0 m/s^2.
s_0 defaults to 1.0 m.
time_headway defaults to 0.1 s.
delta defaults to 4.0 dimensionless.
bloat_diameter defaults to 4.5 m.
distance_lower_limit defaults to 1e-2 m.
scan_ahead_distance defaults to 100.0 m.

◆ IdmPlannerParameters() [2/3]

IdmPlannerParameters ( const IdmPlannerParameters< T > & other )

◆ IdmPlannerParameters() [3/3]

IdmPlannerParameters ( IdmPlannerParameters< T > && other )

noexcept

Member Function Documentation

◆ a()

const T& a ( ) const

max acceleration

Note: a is expressed in units of m/s^2.; a has a limited domain of [0.0, +Inf].

◆ b()

const T& b ( ) const

comfortable braking deceleration

Note: b is expressed in units of m/s^2.; b has a limited domain of [0.0, +Inf].

◆ bloat_diameter()

const T& bloat_diameter ( ) const

diameter of circle about the vehicle's pose that encloses its physical footprint

Note: bloat_diameter is expressed in units of m.; bloat_diameter has a limited domain of [0.0, +Inf].

◆ delta()

const T& delta ( ) const

free-road exponent

Note: delta is expressed in units of dimensionless.; delta has a limited domain of [0.0, +Inf].

◆ distance_lower_limit()

const T& distance_lower_limit ( ) const

lower saturation bound on net distance to prevent near-singular IDM solutions

Note: distance_lower_limit is expressed in units of m.; distance_lower_limit has a limited domain of [0.0, +Inf].

◆ DoClone()

IdmPlannerParameters<T>* DoClone ( ) const

final

◆ GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )

static

See IdmPlannerParametersIndices::GetCoordinateNames().

◆ GetElementBounds()

void GetElementBounds	(	Eigen::VectorXd *	lower,
		Eigen::VectorXd *	upper
	)		const

final

◆ IsValid()

drake::boolean<T> IsValid ( ) const

Returns whether the current values of this vector are well-formed.

◆ operator=() [1/2]

IdmPlannerParameters& operator= ( const IdmPlannerParameters< T > & other )

◆ operator=() [2/2]

IdmPlannerParameters& operator= ( IdmPlannerParameters< T > && other )

noexcept

◆ s_0()

const T& s_0 ( ) const

minimum desired net distance

Note: s_0 is expressed in units of m.; s_0 has a limited domain of [0.0, +Inf].

◆ scan_ahead_distance()

const T& scan_ahead_distance ( ) const

distance to scan ahead on road for a leading vehicle

Note: scan_ahead_distance is expressed in units of m.; scan_ahead_distance has a limited domain of [0.0, +Inf].

◆ set_a()

void set_a ( const T & a )

Setter that matches a().

◆ set_b()

void set_b ( const T & b )

Setter that matches b().

◆ set_bloat_diameter()

void set_bloat_diameter ( const T & bloat_diameter )

Setter that matches bloat_diameter().

◆ set_delta()

void set_delta ( const T & delta )

Setter that matches delta().

◆ set_distance_lower_limit()

void set_distance_lower_limit ( const T & distance_lower_limit )

Setter that matches distance_lower_limit().

◆ set_s_0()

void set_s_0 ( const T & s_0 )

Setter that matches s_0().

◆ set_scan_ahead_distance()

void set_scan_ahead_distance ( const T & scan_ahead_distance )

Setter that matches scan_ahead_distance().

◆ set_time_headway()

void set_time_headway ( const T & time_headway )

Setter that matches time_headway().

◆ set_v_ref()

void set_v_ref ( const T & v_ref )

Setter that matches v_ref().

◆ SetToNamedVariables()

std::enable_if<std::is_same<U, drake::symbolic::Expression>::value>::type SetToNamedVariables ( )

Create a drake::symbolic::Variable for each element with the known variable name.

This is only available for T == drake::symbolic::Expression.

◆ time_headway()

const T& time_headway ( ) const

desired time headway to vehicle in front

Note: time_headway is expressed in units of s.; time_headway has a limited domain of [0.0, +Inf].

◆ v_ref()

const T& v_ref ( ) const

desired velocity in free traffic

Note: v_ref is expressed in units of m/s.; v_ref has a limited domain of [0.0, +Inf].

◆ with_a()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_a ( const T & a ) const

Fluent setter that matches a().

Returns a copy of this with a set to a new value.

◆ with_b()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_b ( const T & b ) const

Fluent setter that matches b().

Returns a copy of this with b set to a new value.

◆ with_bloat_diameter()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_bloat_diameter ( const T & bloat_diameter ) const

Fluent setter that matches bloat_diameter().

Returns a copy of this with bloat_diameter set to a new value.

◆ with_delta()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_delta ( const T & delta ) const

Fluent setter that matches delta().

Returns a copy of this with delta set to a new value.

◆ with_distance_lower_limit()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_distance_lower_limit ( const T & distance_lower_limit ) const

Fluent setter that matches distance_lower_limit().

Returns a copy of this with distance_lower_limit set to a new value.

◆ with_s_0()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_s_0 ( const T & s_0 ) const

Fluent setter that matches s_0().

Returns a copy of this with s_0 set to a new value.

◆ with_scan_ahead_distance()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_scan_ahead_distance ( const T & scan_ahead_distance ) const

Fluent setter that matches scan_ahead_distance().

Returns a copy of this with scan_ahead_distance set to a new value.

◆ with_time_headway()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_time_headway ( const T & time_headway ) const

Fluent setter that matches time_headway().

Returns a copy of this with time_headway set to a new value.

◆ with_v_ref()

DRAKE_VECTOR_GEN_NODISCARD IdmPlannerParameters<T> with_v_ref ( const T & v_ref ) const

Fluent setter that matches v_ref().

Returns a copy of this with v_ref set to a new value.

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

idm_planner_parameters.h