esmini_ego_control.hpp File Reference

#include <algorithm>
#include <cmath>
#include <memory>
#include <esminiLib.hpp>
#include <cloe/component/latlong_actuator.hpp>
#include "esmini_logger.hpp"

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Classes
class	cloe_esmini::ESMiniSimpleEgoModel
class	cloe_esmini::ESMiniEgoControl

Macros
#define	ESMINI_CONTROLLER_TYPE_EXTERNAL   1

Enumerations
enum class	cloe_esmini::DriverModelType { Simple , GhostLookAheadTime , GhostLookAheadDist }

Functions
	cloe_esmini::ENUM_SERIALIZATION (DriverModelType,({ {DriverModelType::Simple, "simple"}, {DriverModelType::GhostLookAheadTime, "ghost_time"}, {DriverModelType::GhostLookAheadDist, "ghost_distance"}, })) class ESMiniDriverModel

Detailed Description

This file defines an implementation of LatLongActuator that updates the ego vehicle state in ESMini from a simple vehicle and driver model.

Enumeration Type Documentation

DriverModelType

enum cloe_esmini::DriverModelType

strong

Enumerator
Simple	Look ahead to a point on the current lane and steer towards it.
GhostLookAheadTime	Use ghost vehicle state in some time ahead to obtain target acceleration and steering.
GhostLookAheadDist	Use ghost vehicle state in some distance ahead to obtain target acceleration and steering.

Function Documentation

ENUM_SERIALIZATION()

cloe_esmini::ENUM_SERIALIZATION	(	DriverModelType	,
		({ {DriverModelType::Simple, "simple"}, {DriverModelType::GhostLookAheadTime, "ghost_time"}, {DriverModelType::GhostLookAheadDist, "ghost_distance"},})
	)

ID of the ESMini ego object.

ESMini driver model according to test-driver.cpp example.

Tuning parameter to reach the target velocity.