#include <st_driving_limits.h>

Collaboration diagram for apollo::planning::STDrivingLimits:

Public Member Functions
	STDrivingLimits ()

void	Init (const double max_acc, const double max_dec, const double max_v, double curr_v)

virtual	~STDrivingLimits ()=default

std::pair< double, double >	GetVehicleDynamicsLimits (const double t) const
	Given time t, calculate the driving limits in s due to vehicle's dynamics. More...

void	UpdateBlockingInfo (const double t, const double lower_s, const double lower_v, const double upper_s, const double upper_v)
	Update the anchoring of the vehicle dynamics limits. For example, when ADC is blocked by some obstacle, its max. drivable area, max. speed, etc. are also limited subsequently. More...

Constructor & Destructor Documentation

◆ STDrivingLimits()

apollo::planning::STDrivingLimits::STDrivingLimits ( )

inline

◆ ~STDrivingLimits()

virtual apollo::planning::STDrivingLimits::~STDrivingLimits ( )

virtualdefault

Member Function Documentation

◆ GetVehicleDynamicsLimits()

std::pair<double, double> apollo::planning::STDrivingLimits::GetVehicleDynamicsLimits ( const double t ) const

Given time t, calculate the driving limits in s due to vehicle's dynamics.

Parameters

Timestamp t.

Returns: The lower and upper bounds.

◆ Init()

void apollo::planning::STDrivingLimits::Init	(	const double	max_acc,
		const double	max_dec,
		const double	max_v,
		double	curr_v
	)

◆ UpdateBlockingInfo()

void apollo::planning::STDrivingLimits::UpdateBlockingInfo	(	const double	t,
		const double	lower_s,
		const double	lower_v,
		const double	upper_s,
		const double	upper_v
	)

Update the anchoring of the vehicle dynamics limits. For example, when ADC is blocked by some obstacle, its max. drivable area, max. speed, etc. are also limited subsequently.