run_analysis.C File Reference

#include <iostream>
#include <vector>
#include <cmath>
#include <cstdlib>
#include "route.H"
#include "util.H"
#include "conf.H"

Classes
struct	data_instance_t
class	heading_error_analysis_t
class	xtrack_error_analysis_t
Defines
#define	R2D   (180 / M_PI)
#define	D2R   (M_PI/ 180)
Typedefs
typedef vector< data_instance_t >	run_data_t
Functions
bool	read_conf (conf_t &conf_)
double	interp (double prev_tstamp, double next_tstamp, double tstamp, double prev_value, double next_value)
int	closest (double prev_tstamp, double next_tstamp, double tstamp, int prev_value, int next_value)
void	read_heading_data (run_data_t &run_data, const char *heading_file_)
void	read_sog_data (run_data_t &run_data, const char *sog_file_)
void	read_waypoint_data (run_data_t &run_data, const char *waypt_file_)
void	read_run_data (run_data_t &run_data, const char *nav_file_, const char *heading_file_, const char *waypt_file_, const char *sog_file_)
void	print_run_data (const run_data_t &run_data)
double	convert_steering_command (unsigned value_)
double	convert_steering_angle (unsigned value_)
void	read_aevit_data (const char *aevit_file_, const char *steering_file_)
void	print_route_heading (route_t const &route)
void	print_usage ()
int	main (int argc, char **argv)
Variables
double	stop_speed = 0.1
unsigned	steering_min
unsigned	steering_max
unsigned	throttle_min
unsigned	throttle_max
double	min_wheel_angle
double	max_wheel_angle

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Define Documentation

#define D2R   (M_PI/ 180)

Referenced by read_heading_data().

#define R2D   (180 / M_PI)

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Typedef Documentation

typedef vector<data_instance_t> run_data_t

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Function Documentation

int closest	(	double	prev_tstamp,
		double	next_tstamp,
		double	tstamp,
		int	prev_value,
		int	next_value
	)

Referenced by read_waypoint_data().

double convert_steering_angle

(

unsigned

value_

)

References max_wheel_angle, min_wheel_angle, steering_max, and steering_min.

Referenced by read_aevit_data().

double convert_steering_command

(

unsigned

value_

)

References steering_max, and steering_min.

double interp	(	double	prev_tstamp,
		double	next_tstamp,
		double	tstamp,
		double	prev_value,
		double	next_value
	)

Referenced by read_heading_data(), and read_sog_data().

int main	(	int	argc,
		char **	argv
	)

References xtrack_error_analysis_t::compute(), heading_error_analysis_t::compute(), xtrack_error_analysis_t::fini(), heading_error_analysis_t::fini(), xtrack_error_analysis_t::init(), heading_error_analysis_t::init(), xtrack_error_analysis_t::print_results(), heading_error_analysis_t::print_results(), print_route_heading(), print_usage(), read_aevit_data(), read_run_data(), data_instance_t::sog, and stop_speed.

void print_route_heading

(

route_t const &

route

)

References R2D.

Referenced by main().

void print_run_data

(

const run_data_t &

run_data

)

References data_instance_t::heading, data_instance_t::pos_x, data_instance_t::pos_y, data_instance_t::pos_z, data_instance_t::sog, data_instance_t::tstamp, and data_instance_t::wp_next.

void print_usage

(

)

Referenced by main().

void read_aevit_data	(	const char *	aevit_file_,
		const char *	steering_file_
	)

References convert_steering_angle().

Referenced by main().

bool read_conf

(

conf_t &

conf_

)

References max_wheel_angle, min_wheel_angle, steering_max, steering_min, throttle_max, and throttle_min.

void read_heading_data	(	run_data_t &	run_data,
		const char *	heading_file_
	)

References D2R, and interp().

Referenced by read_run_data().

void read_run_data	(	run_data_t &	run_data,
		const char *	nav_file_,
		const char *	heading_file_,
		const char *	waypt_file_,
		const char *	sog_file_
	)

References data_instance_t::pos_x, data_instance_t::pos_y, read_heading_data(), read_sog_data(), read_waypoint_data(), and data_instance_t::tstamp.

Referenced by main().

void read_sog_data	(	run_data_t &	run_data,
		const char *	sog_file_
	)

References interp().

Referenced by read_run_data().

void read_waypoint_data	(	run_data_t &	run_data,
		const char *	waypt_file_
	)

References closest().

Referenced by read_run_data().

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Variable Documentation

double max_wheel_angle

Referenced by convert_steering_angle(), and read_conf().

double min_wheel_angle

Referenced by convert_steering_angle(), and read_conf().

unsigned steering_max

Referenced by convert_steering_angle(), convert_steering_command(), and read_conf().

unsigned steering_min

Referenced by convert_steering_angle(), convert_steering_command(), and read_conf().

double stop_speed = 0.1

Referenced by main().

unsigned throttle_max

Referenced by read_conf().

unsigned throttle_min

Referenced by read_conf().