19 {0, 0, 0, 0, 0, 0, 0, 0},
20 {1, 0, 0, 0, 0, 0, 0, 0},
21 {1, 1, 0, 0, 0, 0, 0, 0},
22 {1, 0, 1, 0, 0, 0, 0, 0},
23 {1, 0, 0, 1, 0, 0, 0, 0},
24 {1, 0, 0, 0, 1, 0, 0, 0},
25 {1, 0, 0, 0, 0, 1, 0, 0},
26 {1, 0, 0, 0, 0, 0, 1, 0}
29 {0, 0, 0, 0, 0, 0, 0, 0},
30 {460, 0, 0, 0, 0, 0, 0, 0},
31 {80, 860, 0, 0, 0, 0, 0, 0},
32 {80, 0, 860, 0, 0, 0, 0, 0},
33 {80, 0, 0, 860, 0, 0, 0, 0},
34 {80, 0, 0, 0, 860, 0, 0, 0},
35 {80, 0, 0, 0, 0, 860, 0, 0},
36 {80, 0, 0, 0, 0, 0, 860, 0}
42 controllerAcceleration(0), frontSpeed(0), frontAcceleration(0),
43 frontControllerAcceleration(0), frontDataReadTime(0), frontAngle(0), frontInitialized(false),
44 autoFeed(false), leaderVehicle(0), frontVehicle(0),
45 accHeadwayTime(1.5), accLambda(0.1),
46 useControllerAcceleration(true), leaderSpeed(0),
47 leaderAcceleration(0), leaderControllerAcceleration(0), leaderDataReadTime(0), leaderAngle(0),
48 leaderInitialized(false), caccInitialized(false),
49 useFixedAcceleration(0), fixedAcceleration(0),
51 ccDesiredSpeed(14), ccKp(1), activeController(
Plexe::
DRIVER),
52 nInitialized(0), position(-1), nCars(8),
53 caccXi(-1), caccOmegaN(-1), caccC1(-1), caccAlpha1(-1), caccAlpha2(-1),
54 caccAlpha3(-1), caccAlpha4(-1), caccAlpha5(-1), caccSpacing(5),
56 uMin(-1e6), uMax(1e6),
57 ploegH(0.5), ploegKp(0.2), ploegKd(0.7),
58 flatbedKa(2.4), flatbedKv(0.6), flatbedKp(12), flatbedD(5), flatbedH(4),
61 autoLaneChange(false) {