cajun::base_path_provider_t Class Reference

Class to provide base_path. It stores the previous path and provides base path. More...

#include <base_path_provider.H>

List of all members.

Public Member Functions
	base_path_provider_t (world_state_t *ws_, rndf_t const *rndf_, mdf_t const *mdf)
void	update_prev_path (path_t const &path_, path_direction_t p_dir_)
	Update the previous path.
void	get_base_path (path_t &path_, path_direction_t p_dir_)
	Returns the base path by getting the present bot position from nav data checking where it falls on the m_prev_path.
Private Member Functions
void	add_new_base_path (path_t &path_, double x_, double y_)
Private Attributes
path_t	m_prev_path
path_direction_t	m_prev_path_dir
world_state_t *	m_ws
rndf_t const *	m_rndf
mdf_t const *	m_mdf
bool	m_first_iteration

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Detailed Description

Class to provide base_path. It stores the previous path and provides base path.

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Constructor & Destructor Documentation

base_path_provider_t::base_path_provider_t	(	world_state_t *	ws_,
		rndf_t const *	rndf_,
		mdf_t const *	mdf
	)

References m_first_iteration, m_prev_path_dir, and cajun::NO_DIRECTION.

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Member Function Documentation

void base_path_provider_t::add_new_base_path	(	path_t &	path_,
		double	x_,
		double	y_
	)			[private]

References cajun::is_exit_entry_pair(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::uc_planner_param_t::m_bubble_rad, m_mdf, m_rndf, cajun::uc_planner_param_t::m_start_dis_before_start_chute, cajun::uc_planner_param_t::m_width_multiplier, and m_ws.

Referenced by get_base_path().

void base_path_provider_t::get_base_path	(	path_t &	path_,
		path_direction_t	p_dir_
	)

Returns the base path by getting the present bot position from nav data checking where it falls on the m_prev_path.

References add_new_base_path(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::uc_planner_param_t::m_base_path_default_max_speed, cajun::uc_planner_param_t::m_base_path_default_min_speed, m_first_iteration, cajun::uc_planner_param_t::m_off_path_distance, m_prev_path, m_prev_path_dir, m_ws, cajun::point_on_path(), and cajun::set_path_speed().

Referenced by cajun::planner_t::get_steering_path().

void base_path_provider_t::update_prev_path	(	path_t const &	path_,
		path_direction_t	p_dir_
	)

Update the previous path.

References m_prev_path, and m_prev_path_dir.

Referenced by cajun::planner_t::get_steering_path().

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Member Data Documentation

bool cajun::base_path_provider_t::m_first_iteration [private]

Referenced by base_path_provider_t(), and get_base_path().

mdf_t const* cajun::base_path_provider_t::m_mdf [private]

Referenced by add_new_base_path().

path_t cajun::base_path_provider_t::m_prev_path [private]

Referenced by get_base_path(), and update_prev_path().

path_direction_t cajun::base_path_provider_t::m_prev_path_dir [private]

Referenced by base_path_provider_t(), get_base_path(), and update_prev_path().

rndf_t const* cajun::base_path_provider_t::m_rndf [private]

Referenced by add_new_base_path().

world_state_t* cajun::base_path_provider_t::m_ws [private]

Referenced by add_new_base_path(), and get_base_path().

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

• base_path_provider.H
• base_path_provider.C