cajun::lane_task_planner_t Class Reference

#include <lane_task_planner.H>

Inheritance diagram for cajun::lane_task_planner_t:

Public Member Functions
	lane_task_planner_t ()
void	set_plan (rndf_point_t *end_wp_id_, double x_, double y_)
	Set the plan for the lane task planner. Teh plan is represented as end waypoint on the lane till which bot need to be driven.
void	set_plan (rndf_point_t *end_wp_id_, double dis_)
void	get_plan (rndf_point_t *&end_wp_id_, double &x_, double &y_, double &dis_)
void	modify_plan (rndf_point_t *end_wp_id_, double x_, double y_)
void	set_active ()
	Set the Lane following task planner (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 on lane to reach m_end_wp. 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 the id of the lane on which the its path starts.
bool	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if task is done, if end_wp is reached.
void	print_plan ()
Protected Member Functions
void	compute_end_xy (rndf_lane_data_t const &lb_, path_t const &path)
Protected Attributes
const uc_planner_param_t *	m_uc_param
rndf_point_t *	m_end_wp_id
double	m_end_x
double	m_end_y
double	m_drive_dis
bool	m_drive_by_distance
bool	m_recorded_start
double	m_start_x
double	m_start_y
double	m_lane_width

Constructor & Destructor Documentation

lane_task_planner_t::lane_task_planner_t ( )

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

Member Function Documentation

void lane_task_planner_t::compute_end_xy	(	rndf_lane_data_t const &	lb_,
		path_t const &	path
	)			`[protected]`

References m_drive_dis, m_end_x, m_end_y, m_recorded_start, m_start_x, m_start_y, m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

Referenced by generate_path().

path_status_t 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 on lane to reach m_end_wp. 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_rndf_lane_to_path(), cajun::append_path(), compute_end_xy(), cajun::path_turn_info_t::distance, 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, cajun::task_planner_t::m_complete, m_drive_by_distance, m_end_wp_id, m_end_x, m_end_y, cajun::task_planner_t::m_mdf, cajun::uc_planner_param_t::m_start_dis_before_start_chute, 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, and cajun::task_planner_t::update_local_path().

bool cajun::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.

void lane_task_planner_t::get_plan	(	rndf_point_t *&	end_wp_id_,
		double &	x_,
		double &	y_,
		double &	dis_
	)

References m_drive_dis, m_end_wp_id, m_end_x, and m_end_y.

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

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

Returns the id of the lane on which the its path starts.

Reimplemented from cajun::task_planner_t.

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

Returns true if task is done, if end_wp is reached.

Implements cajun::task_planner_t.

References 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_drive_by_distance, m_end_wp_id, m_lane_width, cajun::task_planner_t::m_path, cajun::task_planner_t::m_planned_path, m_recorded_start, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, message, msg_logger, and cajun::point_on_path().

void lane_task_planner_t::modify_plan	(	rndf_point_t *	end_wp_id_,
		double	x_,
		double	y_
	)

References m_drive_by_distance, m_end_wp_id, m_end_x, and m_end_y.

void lane_task_planner_t::print_plan ( ) [virtual]

|brief Display the plan of the lane task planner, most used for debugging

Implements cajun::task_planner_t.

References cajun::rndf_point_t::is_rndf_wp(), m_drive_by_distance, m_drive_dis, m_end_wp_id, message, and msg_logger.

void lane_task_planner_t::set_active ( ) [virtual]

Set the Lane following task planner (TP) as active TP.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, m_end_wp_id, message, and msg_logger.

void lane_task_planner_t::set_plan	(	rndf_point_t *	end_wp_id_,
		double	dis_
	)

References cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_drive_by_distance, m_drive_dis, m_end_wp_id, m_lane_width, cajun::task_planner_t::m_reset_base_path, and cajun::task_planner_t::m_rndf.

void lane_task_planner_t::set_plan	(	rndf_point_t *	end_wp_id_,
		double	x_,
		double	y_
	)

Set the plan for the lane task planner. Teh plan is represented as end waypoint on the lane till which bot need to be driven.

References cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_drive_by_distance, m_drive_dis, m_end_wp_id, m_end_x, m_end_y, m_lane_width, cajun::task_planner_t::m_reset_base_path, and cajun::task_planner_t::m_rndf.

Referenced by cajun::task_plan_handler_t::add_initial_lf(), cajun::task_plan_handler_t::add_lane_tp(), cajun::state_machine_t::change_lane(), and cajun::task_plan_handler_t::insert_LF_TP().

Member Data Documentation

bool cajun::lane_task_planner_t::m_drive_by_distance [protected]

Referenced by generate_path(), is_task_complete(), lane_task_planner_t(), modify_plan(), print_plan(), and set_plan().

double cajun::lane_task_planner_t::m_drive_dis [protected]

Referenced by compute_end_xy(), get_plan(), print_plan(), and set_plan().

rndf_point_t* cajun::lane_task_planner_t::m_end_wp_id [protected]

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

double cajun::lane_task_planner_t::m_end_x [protected]

Referenced by compute_end_xy(), generate_path(), get_plan(), modify_plan(), and set_plan().

double cajun::lane_task_planner_t::m_end_y [protected]

Referenced by compute_end_xy(), generate_path(), get_plan(), modify_plan(), and set_plan().

double cajun::lane_task_planner_t::m_lane_width [protected]

Referenced by is_task_complete(), and set_plan().

bool cajun::lane_task_planner_t::m_recorded_start [protected]

Referenced by compute_end_xy(), is_task_complete(), and lane_task_planner_t().

double cajun::lane_task_planner_t::m_start_x [protected]

Referenced by compute_end_xy().

double cajun::lane_task_planner_t::m_start_y [protected]

Referenced by compute_end_xy().

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

Referenced by compute_end_xy(), generate_path(), is_task_complete(), and lane_task_planner_t().

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

cajun::lane_task_planner_t Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation