struct defining the ego vehicles current dynamics in respect to the current route More...

#include <RssCheck.h>

Collaboration diagram for carla::rss::EgoDynamicsOnRoute:

Public Member Functions
	EgoDynamicsOnRoute ()
	constructor More...

Public Attributes
::ad::physics::Acceleration	avg_route_accel_lat
	the ego acceleration component lat in respect to a route smoothened by an average filter More...

::ad::physics::Acceleration	avg_route_accel_lon
	the ego acceleration component lon in respect to a route smoothened by an average filter More...

bool	crossing_border
	flag indicating if the current state is already crossing one of the borders this is only evaluated if the border checks are active! It is a hint to oversteer a bit on countersteering More...

::ad::map::point::ENUPoint	ego_center
	the considered enu position of the ego vehicle More...

bool	ego_center_within_route
	check if the ego center is within route More...

::ad::map::point::ENUHeading	ego_heading
	the considered heading of the ego vehicle More...

::ad::physics::AngularVelocity	ego_heading_change
	the considered heading change of the ego vehicle More...

::ad::physics::Speed	ego_speed
	the ego speed More...

::ad::physics::Angle	ego_steering_angle
	the considered steering angle of the ego vehicle More...

::ad::map::point::ENUHeading	heading_diff
	the considered heading diff towards the route More...

::ad::physics::Distance	min_stopping_distance
	the current minimum stopping distance More...

::ad::physics::Acceleration	route_accel_lat
	the ego acceleration component lat in respect to a route More...

::ad::physics::Acceleration	route_accel_lon
	the ego acceleration component lon in respect to a route More...

::ad::map::point::ENUHeading	route_heading
	the considered heading of the route More...

::ad::map::point::ENUPoint	route_nominal_center
	the considered nominal center of the current route More...

::ad::physics::Speed	route_speed_lat
	the ego speed component lat in respect to a route More...

::ad::physics::Speed	route_speed_lon
	the ego speed component lon in respect to a route More...

double	time_since_epoch_check_end_ms
	the time since epoch in ms at the end of the checkObjects call More...

double	time_since_epoch_check_start_ms
	the time since epoch in ms at start of the checkObjects call More...

carla::client::Timestamp	timestamp
	the carla timestamp of the last calculation More...

Detailed Description

struct defining the ego vehicles current dynamics in respect to the current route

Especially the velocity of the vehicle is split into lateral and longitudinal components according to the current route

Definition at line 40 of file RssCheck.h.

Constructor & Destructor Documentation

◆ EgoDynamicsOnRoute()

carla::rss::EgoDynamicsOnRoute::EgoDynamicsOnRoute ( )

constructor

Definition at line 55 of file RssCheck.cpp.

Member Data Documentation

◆ avg_route_accel_lat

::ad::physics::Acceleration carla::rss::EgoDynamicsOnRoute::avg_route_accel_lat

the ego acceleration component lat in respect to a route smoothened by an average filter

Definition at line 85 of file RssCheck.h.

Referenced by carla::rss::RssCheck::CalculateEgoDynamicsOnRoute(), and carla::rss::RssRestrictor::RestrictVehicleControl().

◆ avg_route_accel_lon

::ad::physics::Acceleration carla::rss::EgoDynamicsOnRoute::avg_route_accel_lon

the ego acceleration component lon in respect to a route smoothened by an average filter

Definition at line 88 of file RssCheck.h.

Referenced by carla::rss::RssCheck::CalculateEgoDynamicsOnRoute().

◆ crossing_border

bool carla::rss::EgoDynamicsOnRoute::crossing_border

flag indicating if the current state is already crossing one of the borders this is only evaluated if the border checks are active! It is a hint to oversteer a bit on countersteering

Definition at line 68 of file RssCheck.h.

Referenced by carla::rss::RssCheck::AnalyseCheckResults(), carla::rss::RssCheck::CalculateEgoDynamicsOnRoute(), and carla::rss::RssRestrictor::RestrictVehicleControl().