cajun::intersection_task_planner_t Class Reference

#include <intersection_task_planner.H>

Inheritance diagram for cajun::intersection_task_planner_t:

List of all members.

Public Types
enum	internal_status_t { NOT_ACTIVE_YET, STOP_AT_INTERSECTION, READY_TO_GO }
Public Member Functions
	intersection_task_planner_t (world_state_t *ws_)
void	set_plan (rndf_point_t *exit_wp_, rndf_point_t *entry_wp_)
	Set the plan for the intersection task planner (I_TP), record exit and entry waypoints.
void	get_plan (rndf_point_t *&exit_wp_, rndf_point_t *&entry_wp_)
void	set_active ()
	Set the intersection task planner (TP) as active TP.
path_status_t	generate_path (world_state_t *ws_, path_t &path_, double &p_length_, const path_t &base_path_)
	Returns tha path for intersection region to touch the entry waypoints. 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	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if task is done, if entry waypoint is reached.
void	print_plan ()
	Displays the planned path, used only for debugging.
void	set_path_blocked (unsigned p_id_)
	Returns true if TP's path is in forward direction.
internal_status_t	get_status ()
bool	is_quick_acceleration_path ()
Protected Member Functions
path_status_t	add_intersection_path (world_state_t *ws_, path_t &path_, double &p_length_, const path_t &base_path_, double x_, double y_)
bool	stop_at_intersection (world_state_t *ws_)
	Returns true if have to wait at intersection.
bool	inter_precedence (world_state_t *ws_)
	Returns true if intersection is free to drive through.
bool	stop_for_stop_sign (world_state_t *ws_)
	Returns true if need to stop at intersection for either stop sign or for config entry to stop at every intersection.
bool	intersection_region_free (world_state_t *ws_, unsigned inter_id_)
	Returns true if all exit entry path at the intersection are free.
Protected Attributes
const uc_planner_param_t *	m_uc_param
internal_status_t	m_internal_status
double	m_stopped
double	m_stop_time
double	m_have_precedence_since
double	m_inter_path_free_since
rndf_point_t *	m_exit_point
rndf_point_t *	m_entry_point
bool	m_left_turn
bool	m_wait_at_intersection
double	m_inter_tstamp
bool	m_is_stop_inter
unsigned	m_inter_id
double	m_lane_width
double	m_min_inter_speed
double	m_max_inter_speed

---

Member Enumeration Documentation

enum cajun::intersection_task_planner_t::internal_status_t

Enumerator:

NOT_ACTIVE_YET
STOP_AT_INTERSECTION
READY_TO_GO

---

Constructor & Destructor Documentation

intersection_task_planner_t::intersection_task_planner_t

(

world_state_t *

ws_

)

References cajun::FORWARD, cajun::uc_planner_param_t::get_uc_planner_param(), cajun::INTERSECTION_TP, m_have_precedence_since, m_inter_path_free_since, m_internal_status, cajun::task_planner_t::m_path_dir, cajun::task_planner_t::m_rndf, cajun::task_planner_t::m_type, m_uc_param, and NOT_ACTIVE_YET.

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Member Function Documentation

path_status_t intersection_task_planner_t::add_intersection_path	(	world_state_t *	ws_,
		path_t &	path_,
		double &	p_length_,
		const path_t &	base_path_,
		double	x_,
		double	y_
	)			[protected]

References cajun::copy_path(), cajun::task_planner_t::m_active, cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, m_entry_point, m_exit_point, m_internal_status, m_max_inter_speed, m_min_inter_speed, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, message, msg_logger, cajun::PATH_ERROR, cajun::PATH_OKAY, cajun::PATH_TOO_LONG, READY_TO_GO, STOP_AT_INTERSECTION, and stop_at_intersection().

Referenced by generate_path().

path_status_t intersection_task_planner_t::generate_path	(	world_state_t *	ws_,
		path_t &	path_,
		double &	p_length_,
		const path_t &	base_path_
	)			[virtual]

Returns tha path for intersection region to touch the entry waypoints. 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 add_intersection_path(), cajun::append_path(), cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, cajun::task_planner_t::m_status, and cajun::task_planner_t::update_local_path().

bool cajun::intersection_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.

void intersection_task_planner_t::get_plan	(	rndf_point_t *&	exit_wp_,
		rndf_point_t *&	entry_wp_
	)

References m_entry_point, and m_exit_point.

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

internal_status_t cajun::intersection_task_planner_t::get_status

(

)

[inline]

References m_internal_status.

bool intersection_task_planner_t::inter_precedence

(

world_state_t *

ws_

)

[protected]

Returns true if intersection is free to drive through.

References cajun::rndf_point_t::id(), cajun::rndf_point_t::is_stop(), m_exit_point, m_have_precedence_since, m_inter_path_free_since, m_inter_tstamp, m_uc_param, cajun::uc_planner_param_t::m_wait_after_inter_precedence, and cajun::uc_planner_param_t::m_wait_after_unblocked_inter_path.

Referenced by stop_at_intersection().

bool intersection_task_planner_t::intersection_region_free	(	world_state_t *	ws_,
		unsigned	inter_id_
	)			[protected]

Returns true if all exit entry path at the intersection are free.

References cajun::blk_on_lane_segment(), cajun::rndf_point_t::id(), cajun::intersecting_intersection_legs(), cajun::uc_planner_param_t::m_blocked_lane_timeout, m_entry_point, m_exit_point, cajun::task_planner_t::m_rndf, and m_uc_param.

Referenced by stop_at_intersection().

bool cajun::intersection_task_planner_t::is_quick_acceleration_path

(

)

[inline, virtual]

Reimplemented from cajun::task_planner_t.

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

Returns true if task is done, if entry waypoint is reached.

Implements cajun::task_planner_t.

References cajun::rndf_point_t::id(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::task_planner_t::m_complete, m_entry_point, m_lane_width, cajun::task_planner_t::m_path, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, message, msg_logger, and cajun::point_on_path().

void intersection_task_planner_t::print_plan

(

)

[virtual]

Displays the planned path, used only for debugging.

Implements cajun::task_planner_t.

References m_entry_point, m_exit_point, message, and msg_logger.

void intersection_task_planner_t::set_active

(

)

[virtual]

Set the intersection task planner (TP) as active TP.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, m_entry_point, m_exit_point, m_inter_tstamp, message, and msg_logger.

void intersection_task_planner_t::set_path_blocked

(

unsigned

p_id_

)

[virtual]

Returns true if TP's path is in forward direction.

Informs the TP that its path is blocked at index p_id_

Reimplemented from cajun::task_planner_t.

References m_inter_path_free_since, cajun::task_planner_t::m_path, and m_stopped.

void intersection_task_planner_t::set_plan	(	rndf_point_t *	exit_wp_,
		rndf_point_t *	entry_wp_
	)

Set the plan for the intersection task planner (I_TP), record exit and entry waypoints.

References cajun::path_turn_info_t::distance, cajun::have_to_stop_at_intersection(), cajun::rndf_point_t::id(), cajun::rndf_point_t::in_segment(), cajun::rndf_point_t::in_zone(), cajun::intersection_turn_angle(), cajun::LEFT_TURN, cajun::task_planner_t::m_active, cajun::uc_planner_param_t::m_always_wait, cajun::task_planner_t::m_complete, m_entry_point, m_exit_point, m_inter_id, m_is_stop_inter, m_lane_width, m_max_inter_speed, cajun::uc_planner_param_t::m_max_intersection_speed, cajun::task_planner_t::m_mdf, cajun::uc_planner_param_t::m_min_angle_for_turn, m_min_inter_speed, cajun::uc_planner_param_t::m_min_intersection_speed, cajun::uc_planner_param_t::m_path_width, cajun::task_planner_t::m_reset_base_path, cajun::task_planner_t::m_rndf, m_stop_time, m_stopped, cajun::task_planner_t::m_turn, m_uc_param, m_wait_at_intersection, cajun::NO_TURN, cajun::RIGHT_TURN, and cajun::path_turn_info_t::turn.

bool intersection_task_planner_t::stop_at_intersection

(

world_state_t *

ws_

)

[protected]

Returns true if have to wait at intersection.

References inter_precedence(), intersection_region_free(), m_inter_id, and stop_for_stop_sign().

Referenced by add_intersection_path().

bool intersection_task_planner_t::stop_for_stop_sign

(

world_state_t *

ws_

)

[protected]

Returns true if need to stop at intersection for either stop sign or for config entry to stop at every intersection.

References cajun::task_planner_t::m_active, cajun::uc_planner_param_t::m_max_stop_speed, cajun::uc_planner_param_t::m_min_intersection_wait, m_stop_time, m_stopped, m_uc_param, and m_wait_at_intersection.

Referenced by stop_at_intersection().

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Member Data Documentation

rndf_point_t* cajun::intersection_task_planner_t::m_entry_point [protected]

Referenced by add_intersection_path(), get_plan(), intersection_region_free(), is_task_complete(), print_plan(), set_active(), and set_plan().

rndf_point_t* cajun::intersection_task_planner_t::m_exit_point [protected]

Referenced by add_intersection_path(), get_plan(), inter_precedence(), intersection_region_free(), print_plan(), set_active(), and set_plan().

double cajun::intersection_task_planner_t::m_have_precedence_since [protected]

Referenced by inter_precedence(), and intersection_task_planner_t().

unsigned cajun::intersection_task_planner_t::m_inter_id [protected]

Referenced by set_plan(), and stop_at_intersection().

double cajun::intersection_task_planner_t::m_inter_path_free_since [protected]

Referenced by inter_precedence(), intersection_task_planner_t(), and set_path_blocked().

double cajun::intersection_task_planner_t::m_inter_tstamp [protected]

Referenced by inter_precedence(), and set_active().

internal_status_t cajun::intersection_task_planner_t::m_internal_status [protected]

Referenced by add_intersection_path(), get_status(), and intersection_task_planner_t().

bool cajun::intersection_task_planner_t::m_is_stop_inter [protected]

Referenced by set_plan().

double cajun::intersection_task_planner_t::m_lane_width [protected]

Referenced by is_task_complete(), and set_plan().

bool cajun::intersection_task_planner_t::m_left_turn [protected]

double cajun::intersection_task_planner_t::m_max_inter_speed [protected]

Referenced by add_intersection_path(), and set_plan().

double cajun::intersection_task_planner_t::m_min_inter_speed [protected]

Referenced by add_intersection_path(), and set_plan().

double cajun::intersection_task_planner_t::m_stop_time [protected]

Referenced by set_plan(), and stop_for_stop_sign().

double cajun::intersection_task_planner_t::m_stopped [protected]

Referenced by set_path_blocked(), set_plan(), and stop_for_stop_sign().

const uc_planner_param_t* cajun::intersection_task_planner_t::m_uc_param [protected]

Referenced by add_intersection_path(), inter_precedence(), intersection_region_free(), intersection_task_planner_t(), is_task_complete(), set_plan(), and stop_for_stop_sign().

bool cajun::intersection_task_planner_t::m_wait_at_intersection [protected]

Referenced by set_plan(), and stop_for_stop_sign().

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

• intersection_task_planner.H
• intersection_task_planner.C