cajun::change_lane_task_planner_t Class Reference

#include <change_lane_task_planner.H>

Inheritance diagram for cajun::change_lane_task_planner_t:

Public Member Functions
	change_lane_task_planner_t ()
void	set_plan (unsigned seg_id_, unsigned start_lane_id_, unsigned end_lane_id_)
	Set the plan for the change lane task planner (CL_TP), records start lane id and target lane id.
void	get_plan (unsigned &seg_id_, unsigned &start_lane_id_, unsigned &end_lane_id_)
void	set_active ()
	Set the C_TP as active TP.
path_status_t	generate_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_)
	Returns tha path for changing lane from source to target lane. Returns false if path is full so that no following task planners need to be called else returns true.
bool	get_path_lane_lids (unsigned &sid_, std::vector< unsigned > &lids_)
	Fills in the list of lane of a segment across which TP's path extends on. Returns false if TP has to mention the list in different formate.
bool	get_start_lid (unsigned &sid_, unsigned &lid_)
	Returns sid and lid of the start lane.
bool	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if task is done, i.e bot reached within 1/4 of target lane width from its center line.
void	print_plan ()
	Prints the change lane task planner's (CL_TP) plan, id of start and target lanes.
Private Attributes
const uc_planner_param_t *	m_uc_param
unsigned	m_seg_id
unsigned	m_start_lane_id
unsigned	m_end_lane_id
bool	m_left_turn

Constructor & Destructor Documentation

change_lane_task_planner_t::change_lane_task_planner_t ( )

References cajun::CHANGE_LANE_TP, cajun::FORWARD, cajun::uc_planner_param_t::get_uc_planner_param(), cajun::task_planner_t::m_path_dir, cajun::task_planner_t::m_type, m_uc_param, and msg_logger.

Member Function Documentation

path_status_t change_lane_task_planner_t::generate_path	(	world_state_t *	ws_,
		path_t &	path_,
		double &	p_len_left_,
		const path_t &	base_path_
	)			`[virtual]`

Returns tha path for changing lane from source to target lane. Returns false if path is full so that no following task planners need to be called else returns true.

Implements cajun::task_planner_t.

References cajun::add_path_to_switch_lane(), cajun::append_path(), cajun::LEFT, cajun::LEFT_TURN, cajun::task_planner_t::m_active, cajun::uc_planner_param_t::m_change_lane_max_speed, cajun::uc_planner_param_t::m_change_lane_min_speed, cajun::task_planner_t::m_complete, m_end_lane_id, cajun::uc_planner_param_t::m_look_ahead_ratio, m_seg_id, cajun::task_planner_t::m_status, cajun::task_planner_t::m_turn, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, message, msg_logger, cajun::PATH_ERROR, cajun::PATH_OVER, cajun::RIGHT_TURN, cajun::path_turn_info_t::turn, and cajun::task_planner_t::update_local_path().

bool change_lane_task_planner_t::get_path_lane_lids	(	unsigned &	sid_,
		std::vector< unsigned > &	lids_
	)			`[virtual]`

Fills in the list of lane of a segment across which TP's path extends on. Returns false if TP has to mention the list in different formate.

Reimplemented from cajun::task_planner_t.

References m_end_lane_id, m_seg_id, and m_start_lane_id.

void change_lane_task_planner_t::get_plan	(	unsigned &	seg_id_,
		unsigned &	start_lane_id_,
		unsigned &	end_lane_id_
	)

References m_end_lane_id, m_seg_id, and m_start_lane_id.

Referenced by cajun::traffic_verifier_t::change_lane_free_of_traffic().

bool change_lane_task_planner_t::get_start_lid	(	unsigned &	sid_,
		unsigned &	lid_
	)			`[virtual]`

Returns sid and lid of the start lane.

Reimplemented from cajun::task_planner_t.

References m_seg_id, and m_start_lane_id.

bool change_lane_task_planner_t::is_task_complete	(	world_state_t *	ws_,
		double	x_,
		double	y_,
		double	heading_
	)			`[virtual]`

Returns true if task is done, i.e bot reached within 1/4 of target lane width from its center line.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_complete, m_end_lane_id, cajun::task_planner_t::m_path, m_seg_id, message, msg_logger, and cajun::point_on_path().

void change_lane_task_planner_t::print_plan ( ) [virtual]

Prints the change lane task planner's (CL_TP) plan, id of start and target lanes.

Implements cajun::task_planner_t.

References m_end_lane_id, m_seg_id, m_start_lane_id, message, and msg_logger.

void change_lane_task_planner_t::set_active ( ) [virtual]

Set the C_TP as active TP.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_end_lane_id, cajun::task_planner_t::m_reset_base_path, m_seg_id, message, and msg_logger.

void change_lane_task_planner_t::set_plan	(	unsigned	seg_id_,
		unsigned	start_lane_id_,
		unsigned	end_lane_id_
	)

Set the plan for the change lane task planner (CL_TP), records start lane id and target lane id.

References cajun::path_turn_info_t::distance, cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_end_lane_id, m_seg_id, m_start_lane_id, cajun::task_planner_t::m_turn, cajun::NO_TURN, and cajun::path_turn_info_t::turn.

Referenced by cajun::task_plan_handler_t::add_change_lane_tp(), and cajun::state_machine_t::change_lane().

Member Data Documentation

unsigned cajun::change_lane_task_planner_t::m_end_lane_id [private]

Referenced by generate_path(), get_path_lane_lids(), get_plan(), is_task_complete(), print_plan(), set_active(), and set_plan().

bool cajun::change_lane_task_planner_t::m_left_turn [private]

unsigned cajun::change_lane_task_planner_t::m_seg_id [private]

Referenced by generate_path(), get_path_lane_lids(), get_plan(), get_start_lid(), is_task_complete(), print_plan(), set_active(), and set_plan().

unsigned cajun::change_lane_task_planner_t::m_start_lane_id [private]

Referenced by get_path_lane_lids(), get_plan(), get_start_lid(), print_plan(), and set_plan().

const uc_planner_param_t* cajun::change_lane_task_planner_t::m_uc_param [private]

Referenced by change_lane_task_planner_t(), and generate_path().

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

cajun::change_lane_task_planner_t Class Reference

Public Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation