$darkmode
Public Member Functions | Public Attributes | Protected Attributes | Friends | List of all members
cloe::controller::basic::AdaptiveCruiseControl Struct Reference
Collaboration diagram for cloe::controller::basic::AdaptiveCruiseControl:
[legend]

Public Member Functions

 AdaptiveCruiseControl (const AccConfiguration &c)
 
void add_hmi (utility::ContactMap< Duration > &hmi, const std::string &prefix="")
 
void control (Vehicle &v, const Sync &sync, const std::string &driver_request)
 
const std::pair< std::string, distance::Algorithm > & get_distance_algorithm () const
 

Public Attributes

AccConfiguration config
 
std::shared_ptr< Vehicle > vehicle {nullptr}
 
bool enabled {false}
 
bool active {false}
 
size_t distance_algorithm {0}
 
std::optional< double > target_speed {}
 

Protected Attributes

double uki_last {0.0}
 
double uki_m_last {0.0}
 
double deviation_last {0.0}
 
double deviation_m_last {0.0}
 

Friends

void to_json (Json &j, const AdaptiveCruiseControl &c)
 

Member Function Documentation

◆ add_hmi()

void cloe::controller::basic::AdaptiveCruiseControl::add_hmi ( utility::ContactMap< Duration > &  hmi,
const std::string &  prefix = "" 
)
inline

Add HMI buttons to the given ContactMap.

The HMI semantic is as follows:

ENABLE [enabled] When toggled to true, resets target_speed and active to false. When false, none of the other HMI elements are respected, the following descriptions therefore assume that enabled is true.

CANCEL [active] Sets active to false.

RESUME [active, target_speed] Sets active to true; sets target_speed to the current vehicle speed only if it was previously unset.

PLUS [target_speed] Rounds target_speed up to the nearest ten. If target_speed is unset, it uses the current vehicle speed.

MINUS [target_speed] Rounds the target_speed down to the nearest ten. If target_speed is unset, it uses the current vehicle speed as it's initial state.

DISTANCE [distance_algorithm] Toggles the distance_algorithm between the available distance algorithms: SAFE Keeps vehicle.norm_speed in distance, minimum vehicle length. NORMAL Keeps vehicle.norm_speed / 2 in distance, minimum vehicle length. FIFTY Keeps 50 m distance. CRAZY Keeps a vehicle length from the front car.

Here is the call graph for this function:

◆ control()

void cloe::controller::basic::AdaptiveCruiseControl::control ( Vehicle &  v,
const Sync &  sync,
const std::string &  driver_request 
)
inline

FIXME(ben): The HMI should not be manipulated while we are in this part.

Here is the caller graph for this function:
The documentation for this struct was generated from the following file: