Merge pull request RobotLocomotion#4172 from jadecastro/remove-monoli…

…thic-idm

Purge IdmWithTrajectoryAgent (replaced with diagram in RobotLocomotion#4081)

drake/automotive/BUILD

@@ -12,17 +12,13 @@ cc_library(
         "gen/driving_command.cc",
         "gen/euler_floating_joint_state.cc",
         "gen/idm_planner_parameters.cc",
-        "gen/idm_with_trajectory_agent_parameters.cc",
-        "gen/idm_with_trajectory_agent_state.cc",
         "gen/simple_car_config.cc",
         "gen/simple_car_state.cc",
     ],
     hdrs = [
         "gen/driving_command.h",
         "gen/euler_floating_joint_state.h",
         "gen/idm_planner_parameters.cc",
-        "gen/idm_with_trajectory_agent_parameters.h",
-        "gen/idm_with_trajectory_agent_state.h",
         "gen/simple_car_config.h",
         "gen/simple_car_state.h",
     ],
@@ -34,14 +30,12 @@ cc_library(
     srcs = [
         "gen/driving_command_translator.cc",
         "gen/euler_floating_joint_state_translator.cc",
-        "gen/idm_with_trajectory_agent_state_translator.cc",
         "gen/simple_car_config_translator.cc",
         "gen/simple_car_state_translator.cc",
     ],
     hdrs = [
         "gen/driving_command_translator.h",
         "gen/euler_floating_joint_state_translator.h",
-        "gen/idm_with_trajectory_agent_state_translator.h",
         "gen/simple_car_config_translator.h",
         "gen/simple_car_state_translator.h",
     ],
@@ -64,20 +58,13 @@ cc_library(
     name = "linear_car",
     srcs = ["linear_car.cc"],
     hdrs = ["linear_car.h"],
-    deps = DEPS,
+    deps = DEPS + ["//drake/common:symbolic"],
     linkstatic = 1)
 
 cc_library(
     name = "idm_planner",
     srcs = ["idm_planner.cc"],
     hdrs = ["idm_planner.h"],
-    deps = DEPS,
-    linkstatic = 1)
-
-cc_library(
-    name = "idm_with_trajectory_agent",
-    srcs = ["idm_with_trajectory_agent.cc"],
-    hdrs = ["idm_with_trajectory_agent.h"],
     deps = DEPS + ["//drake/common:symbolic"],
     linkstatic = 1)
 
@@ -92,7 +79,7 @@ cc_library(
     name = "single_lane_ego_and_agent",
     srcs = ["single_lane_ego_and_agent.cc"],
     hdrs = ["single_lane_ego_and_agent.h"],
-    deps = DEPS,
+    deps = DEPS + ["//drake/common:symbolic"],
     linkstatic = 1)
 
 cc_library(

drake/automotive/CMakeLists.txt

@@ -9,12 +9,9 @@ add_library_with_exports(LIB_NAME drakeAutomotive SOURCE_FILES
   curve2.cc
   gen/driving_command.cc
   gen/euler_floating_joint_state.cc
-  gen/idm_with_trajectory_agent_parameters.cc
-  gen/idm_with_trajectory_agent_state.cc
   gen/simple_car_config.cc
   gen/simple_car_state.cc
   idm_planner.cc
-  idm_with_trajectory_agent.cc
   linear_car.cc
   simple_car.cc
   single_lane_ego_and_agent.cc
@@ -30,7 +27,6 @@ drake_install_headers(
   create_trajectory_params.h
   curve2.h
   idm_planner.h
-  idm_with_trajectory_agent.h
   linear_car.h
   simple_car.h
   simple_car_to_euler_floating_joint.h
@@ -56,7 +52,6 @@ if(lcm_FOUND)
     automotive_simulator.cc
     gen/driving_command_translator.cc
     gen/euler_floating_joint_state_translator.cc
-    gen/idm_with_trajectory_agent_state_translator.cc
     gen/simple_car_config_translator.cc
     gen/simple_car_state_translator.cc
     )

drake/automotive/gen/CMakeLists.txt

@@ -4,9 +4,6 @@ if(lcm_FOUND)
     driving_command_translator.h
     euler_floating_joint_state.h
     euler_floating_joint_state_translator.h
-    idm_with_trajectory_agent_parameters.h
-    idm_with_trajectory_agent_state.h
-    idm_with_trajectory_agent_state_translator.h
     simple_car_config.h
     simple_car_config_translator.h
     simple_car_state.h

drake/automotive/gen/idm_planner_parameters.cc

@@ -7,6 +7,7 @@ namespace drake {
 namespace automotive {
 
 const int IdmPlannerParametersIndices::kNumCoordinates;
+const int IdmPlannerParametersIndices::kVRef;
 const int IdmPlannerParametersIndices::kA;
 const int IdmPlannerParametersIndices::kB;
 const int IdmPlannerParametersIndices::kS0;

drake/automotive/gen/idm_planner_parameters.h

@@ -16,15 +16,16 @@ namespace automotive {
 /// Describes the row indices of a IdmPlannerParameters.
 struct IdmPlannerParametersIndices {
   /// The total number of rows (coordinates).
-  static const int kNumCoordinates = 6;
+  static const int kNumCoordinates = 7;
 
   // The index of each individual coordinate.
-  static const int kA = 0;
-  static const int kB = 1;
-  static const int kS0 = 2;
-  static const int kTimeHeadway = 3;
-  static const int kDelta = 4;
-  static const int kLA = 5;
+  static const int kVRef = 0;
+  static const int kA = 1;
+  static const int kB = 2;
+  static const int kS0 = 3;
+  static const int kTimeHeadway = 4;
+  static const int kDelta = 5;
+  static const int kLA = 6;
 };
 
 /// Specializes BasicVector with specific getters and setters.
@@ -41,6 +42,9 @@ class IdmPlannerParameters : public systems::BasicVector<T> {
 
   /// @name Getters and Setters
   //@{
+  // desired velocity in free traffic
+  const T v_ref() const { return this->GetAtIndex(K::kVRef); }
+  void set_v_ref(const T& v_ref) { this->SetAtIndex(K::kVRef, v_ref); }
   // max acceleration
   const T a() const { return this->GetAtIndex(K::kA); }
   void set_a(const T& a) { this->SetAtIndex(K::kA, a); }