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

#include <RssCheck.h>

carla::rss::EgoDynamicsOnRoute 的协作图:

Public 成员函数
	EgoDynamicsOnRoute ()
	constructor

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

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

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

::ad::map::point::ENUPoint	ego_center
	考虑自主车辆的位置

bool	ego_center_within_route
	检查自我中心是否在路线内

::ad::map::point::ENUHeading	ego_heading
	考虑自主车辆的航向

::ad::physics::AngularVelocity	ego_heading_change
	考虑自主车辆的方向变化

::ad::physics::Speed	ego_speed
	自主车辆的速度

::ad::physics::Angle	ego_steering_angle
	考虑自主车辆的转向角度

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

::ad::physics::Distance	min_stopping_distance
	当前最小停止距离

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

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

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

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

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

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

double	time_since_epoch_check_end_ms
	在checkObjects调用结束时，从epoch开始的时间，单位为毫秒

double	time_since_epoch_check_start_ms
	在checkObjects调用开始时，从epoch开始的时间，单位为毫秒

carla::client::Timestamp	timestamp
	最后一次计算的Carla时间戳

详细描述

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

在文件 RssCheck.h 第 46 行定义.

构造及析构函数说明

◆ EgoDynamicsOnRoute()

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

constructor

在文件 RssCheck.cpp 第 80 行定义.

类成员变量说明

◆ 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

在文件 RssCheck.h 第 98 行定义.

被这些函数引用 carla::rss::RssCheck::CalculateEgoDynamicsOnRoute() , 以及 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

在文件 RssCheck.h 第 103 行定义.

被这些函数引用 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

在文件 RssCheck.h 第 74 行定义.

被这些函数引用 carla::rss::RssCheck::CalculateEgoDynamicsOnRoute() , 以及 carla::rss::RssRestrictor::RestrictVehicleControl().