lanelet::routing::RoutingCostTravelTime Class Reference

A basic travel time-based routing cost module. Uses maximum allowed speed or the maximum speed of the participant (what every is lower) and a fixed lane chance cost. More...

#include <RoutingCost.h>

Inheritance diagram for lanelet::routing::RoutingCostTravelTime:

Public Member Functions
double	getCostLaneChange (const traffic_rules::TrafficRules &trafficRules, const ConstLanelets &from, const ConstLanelets &) const noexcept override
	Get the cost of the lane change between two adjacent lanelets. More...
double	getCostSucceeding (const traffic_rules::TrafficRules &trafficRules, const ConstLaneletOrArea &from, const ConstLaneletOrArea &to) const override
	Get the cost of the transistion from one to another lanelet. More...
	RoutingCostTravelTime ()=delete
	RoutingCostTravelTime (double laneChangeCost, double minLaneChangeTime=0.)
Public Member Functions inherited from lanelet::routing::RoutingCost
virtual	~RoutingCost ()=default

Static Private Member Functions
static double	travelTime (const traffic_rules::TrafficRules &trafficRules, const ConstArea &ar)
static double	travelTime (const traffic_rules::TrafficRules &trafficRules, const ConstLanelet &ll)

Private Attributes
const double	laneChangeCost_
const Velocity	maxSpeed_
const double	minChangeTime_

Detailed Description

A basic travel time-based routing cost module. Uses maximum allowed speed or the maximum speed of the participant (what every is lower) and a fixed lane chance cost.

Definition at line 82 of file RoutingCost.h.

Constructor & Destructor Documentation

RoutingCostTravelTime() [1/2]

lanelet::routing::RoutingCostTravelTime::RoutingCostTravelTime ( )

delete

RoutingCostTravelTime() [2/2]

lanelet::routing::RoutingCostTravelTime::RoutingCostTravelTime ( double  laneChangeCost, double  minLaneChangeTime = 0.  )

inlineexplicit

Time cost of a lane change [s]. If the time is not sufficient for the lane change (i.e. minLaneChangeTime is not reached), no lane change will possible at this position. Instead the relation between the involved lanelets is "adjacent".

Definition at line 89 of file RoutingCost.h.

Member Function Documentation

getCostLaneChange()

double lanelet::routing::RoutingCostTravelTime::getCostLaneChange ( const traffic_rules::TrafficRules &  trafficRules, const ConstLanelets &  from, const ConstLanelets &  to  ) const

inlineoverridevirtualnoexcept

Get the cost of the lane change between two adjacent lanelets.

Parameters

trafficRules	TrafficRules module to apply
from	The lanelet or area the traffic participant is on (assumed to be in the middle)
to	The lanelet or area the traffic participant is reaching for (reference is the middle again)

Returns

Routing cost of the lane change

Note

The calculated cost will be assigned to the edge in the graph between 'from' and 'to'. So typically this should represent some artificial cost for a lane change.

Implements lanelet::routing::RoutingCost.

Definition at line 96 of file RoutingCost.h.

getCostSucceeding()

double lanelet::routing::RoutingCostTravelTime::getCostSucceeding ( const traffic_rules::TrafficRules &  trafficRules, const ConstLaneletOrArea &  from, const ConstLaneletOrArea &  to  ) const

inlineoverridevirtual

Get the cost of the transistion from one to another lanelet.

Parameters

trafficRules	TrafficRules module to apply
from	The lanelet or area the traffic participant is on (assumed to be in the middle)
to	The lanelet or area the traffic participant is reaching for (reference is the middle again)

Returns

Routing cost for passing this lanelet

Note

The calculated cost will be assigned to the edge in the graph between 'from' and 'to'. So typically this should represent the cost of passing the 'from'-lanelet with regards of going into the 'to'-lanelet.

Implements lanelet::routing::RoutingCost.

Definition at line 106 of file RoutingCost.h.

travelTime() [1/2]

double lanelet::routing::RoutingCostTravelTime::travelTime ( const traffic_rules::TrafficRules &  trafficRules, const ConstArea &  ar  )

staticprivate

Definition at line 29 of file RoutingCost.cpp.

travelTime() [2/2]

double lanelet::routing::RoutingCostTravelTime::travelTime ( const traffic_rules::TrafficRules &  trafficRules, const ConstLanelet &  ll  )

staticprivate

Definition at line 24 of file RoutingCost.cpp.

Member Data Documentation

laneChangeCost_

const double lanelet::routing::RoutingCostTravelTime::laneChangeCost_

private

Definition at line 118 of file RoutingCost.h.

maxSpeed_

const Velocity lanelet::routing::RoutingCostTravelTime::maxSpeed_

private

Definition at line 117 of file RoutingCost.h.

minChangeTime_

const double lanelet::routing::RoutingCostTravelTime::minChangeTime_

private

Definition at line 118 of file RoutingCost.h.

---

The documentation for this class was generated from the following files:

• RoutingCost.h
• RoutingCost.cpp