Detailed Description

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

RightOfWaySystem evaluates the current RightOfWayRule state that applies to the agent's location.

It acts interfering the target velocity that is expected to be injected to the speed controller.

The velocity output is zero when the rule indicates to stop.
The velocity output pass through the input velocity when the rule indicates to go.

Assumptions: 1) Only "Stop" and "Go" states are targeted.

Input Port 0: a LaneDirection representing the requested lane and direction of travel. (InputPort getter: lane_state_input())

Input Port 1: A PoseVector for the ego car. (InputPort getter: pose_input())

Input Port 2: The target velocity to be injected to the plant. (InputPort getter: velocity_input())

Output Port 0: Filtered velocity that could be either zero or velocity_input depending on the state of the right-of-way rule. (OutputPort getter: velocity_output())

#include <src/systems/right_of_way_system.h>

Inheritance diagram for RightOfWaySystem< T >:

[legend]

Public Member Functions
	RightOfWaySystem (maliput::api::RoadNetwork *road_network)
	Constructs a RightOfWaySystem. More...

	RightOfWaySystem ()=delete

	~RightOfWaySystem () override=default

const drake::systems::InputPort< T > &	lane_state_input () const

const drake::systems::InputPort< T > &	velocity_input () const

const drake::systems::InputPort< T > &	pose_input () const

const drake::systems::OutputPort< T > &	velocity_output () const

Protected Member Functions
void	CalcOutputVelocity (const drake::systems::Context< T > &context, drake::systems::BasicVector< T > *output) const

Constructor & Destructor Documentation

◆ RightOfWaySystem() [1/2]

RightOfWaySystem ( maliput::api::RoadNetwork * road_network )

explicit

Constructs a RightOfWaySystem.

Parameters

road_network Pointer to a maliput::api::RoadNetwork.

Exceptions

std::invalid_argument When road_network is nullptr.

◆ RightOfWaySystem() [2/2]

RightOfWaySystem ( )

delete

◆ ~RightOfWaySystem()

~RightOfWaySystem ( )

overridedefault

Member Function Documentation

◆ CalcOutputVelocity()

void CalcOutputVelocity	(	const drake::systems::Context< T > &	context,
		drake::systems::BasicVector< T > *	output
	)		const

protected

◆ lane_state_input()

const drake::systems::InputPort< T > & lane_state_input

◆ pose_input()

const drake::systems::InputPort< T > & pose_input

◆ velocity_input()

const drake::systems::InputPort< T > & velocity_input

◆ velocity_output()

const drake::systems::OutputPort< T > & velocity_output

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