cajun::mission_handler_t Class Reference

#include <mission_handler.H>

Public Member Functions
	mission_handler_t (mission_plan_t mission_plan_, world_state_t ws_, rndf_t const rndf_, mdf_t const mdf_)
void	flush_blockages ()
bool	update_plan (double x_, double y_, double heading_, bool could_be_at_start_shoot_=false)
	Determines the plan for covering all checkpoints. Also updates m_plan with list of task planner required to touch all checkpoints.
bool	update_plan (mission_plan_t &detail_mission_)
bool	update_waypoints_reached (double x_, double y_)
	returns false if all checkpoints reached, else returns true
bool	is_finished ()
mission_plan_t *	get_mission_plan ()
void	print_plan ()
	Prints the detail and filter plans.
void	print_mission (mission_plan_t const *mission_plan_)
rndf_point_t *	active_rndf_point_on_or_before (rndf_point_t *rp) const
rndf_point_t *	rndf_point_at_wp (unsigned sid_, unsigned lid_, unsigned wid_)
rndf_point_t *	active_rndf_point_before (double x_, double y_, rndf_t::waypoint_id_t const &before_wp_id)
void	unset_all_blockages ()
void	set_blocked (unsigned sid_, unsigned blk_lid_, unsigned blk_wid_, double blk_x_, double blk_y_, unsigned aft_blk_wid_, double aft_blk_x_, double aft_blk_y_, unsigned neigh_lid_, unsigned neigh_wid_, double neigh_x_, double neigh_y_, unsigned aft_blk_neigh_wid_, double aft_blk_neigh_x_, double aft_blk_neigh_y_)
	block the graph edge at (blk_x, blk_y) on blk_lid, and create a bridge edge from this point to neigh_lane at (neigh_x, neigh_y)
bool	plan_to_next_checkpoint (rndf_point_t *rp_start_, mission_plan_t &path_)
	Returns true if there exist a path from start_ point to next checkpoint, and fills the path in 'path_'. Else returns false.
unsigned	get_next_checkpoint_id ()
unsigned	get_num_checkpoints_left ()
Private Member Functions
bool	approaching_checkpt ()
	Returns true if next waypoint in the mission plan is a checkpoint.
void	alert_incomplete_path (mission_plan_t const &detail_mission_)
	Prints alert message about not able to find a path to all checkpoints.
Private Attributes
mission_plan_t *	m_mission_plan
world_state_t *	m_ws
rndf_t const *	m_rndf
mdf_t const *	m_mdf
uc_planner_param_t const *	m_uc_param
unsigned	m_next_checkpoint
	Next desired checkpoint (.
mission_planner_t *	m_mission_planner
bool	m_finished

Constructor & Destructor Documentation

cajun::mission_handler_t::mission_handler_t	(	mission_plan_t *	mission_plan_,
		world_state_t *	ws_,
		rndf_t const *	rndf_,
		mdf_t const *	mdf_
	)			`[inline]`

References cajun::uc_planner_param_t::get_uc_planner_param(), m_mdf, m_mission_planner, m_rndf, m_uc_param, and m_ws.

Member Function Documentation

rndf_point_t* cajun::mission_handler_t::active_rndf_point_before	(	double	x_,
		double	y_,
		rndf_t::waypoint_id_t const &	before_wp_id
	)			`[inline]`

References cajun::mission_planner_t::active_rndf_point_before(), and m_mission_planner.

Referenced by cajun::state_machine_t::rndf_point_after_uturn(), cajun::state_machine_t::uturn_lane(), and cajun::state_machine_t::uturn_takes_to_next_checkpoint().

rndf_point_t * mission_handler_t::active_rndf_point_on_or_before ( rndf_point_t * rp ) const

References cajun::mission_planner_t::active_rndf_point_on_or_before(), and m_mission_planner.

void mission_handler_t::alert_incomplete_path ( mission_plan_t const & detail_mission_ ) [private]

Prints alert message about not able to find a path to all checkpoints.

References message, and msg_logger.

Referenced by update_plan().

bool mission_handler_t::approaching_checkpt ( ) [private]

Returns true if next waypoint in the mission plan is a checkpoint.

References m_mdf, m_mission_plan, m_next_checkpoint, and m_rndf.

Referenced by update_waypoints_reached().

void cajun::mission_handler_t::flush_blockages ( ) [inline]

References cajun::mission_planner_t::create_graph(), and m_mission_planner.

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

mission_plan_t* cajun::mission_handler_t::get_mission_plan ( ) [inline]

References m_mission_plan.

Referenced by cajun::state_machine_t::start_new_mission_from().

unsigned mission_handler_t::get_next_checkpoint_id ( )

References m_next_checkpoint.

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

unsigned mission_handler_t::get_num_checkpoints_left ( )

References m_mdf, and m_next_checkpoint.

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

bool cajun::mission_handler_t::is_finished ( ) [inline]

References m_finished.

Referenced by cajun::planner_t::is_finished(), and cajun::planner_t::update_planner_state().

bool mission_handler_t::plan_to_next_checkpoint	(	rndf_point_t *	rp_start_,
		mission_plan_t &	path_
	)

Returns true if there exist a path from start_ point to next checkpoint, and fills the path in 'path_'. Else returns false.

References cajun::mission_planner_t::get_plan(), m_mdf, m_mission_planner, m_next_checkpoint, m_rndf, and cajun::mission_planner_t::rndf_point_at_wp().

Referenced by cajun::state_machine_t::uturn_takes_to_next_checkpoint().

void mission_handler_t::print_mission ( mission_plan_t const * mission_plan_ )

References cajun::uc_planner_param_t::m_print_plan, m_uc_param, message, and msg_logger.

Referenced by print_plan(), and update_plan().

void mission_handler_t::print_plan ( )

Prints the detail and filter plans.

References m_mission_plan, and print_mission().

Referenced by cajun::planner_t::update_plan(), and update_plan().

rndf_point_t * mission_handler_t::rndf_point_at_wp	(	unsigned	sid_,
		unsigned	lid_,
		unsigned	wid_
	)

References m_mission_planner, and cajun::mission_planner_t::rndf_point_at_wp().

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

void mission_handler_t::set_blocked	(	unsigned	sid_,
		unsigned	blk_lid_,
		unsigned	blk_wid_,
		double	blk_x_,
		double	blk_y_,
		unsigned	aft_blk_wid_,
		double	aft_blk_x_,
		double	aft_blk_y_,
		unsigned	neigh_lid_,
		unsigned	neigh_wid_,
		double	neigh_x_,
		double	neigh_y_,
		unsigned	aft_blk_neigh_wid_,
		double	aft_blk_neigh_x_,
		double	aft_blk_neigh_y_
	)