cajun::parking_task_planner_t Class Reference

#include <parking_task_planner.H>

Inheritance diagram for cajun::parking_task_planner_t:

List of all members.

Public Member Functions
	parking_task_planner_t ()
void	set_plan (rndf_point_t *end_wp_id_)
	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	get_plan (rndf_point_t *&end_wp_id_)
void	modify_plan (rndf_point_t *end_wp_id_)
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	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if task is done, if end_wp is reached.
bool	is_path_tight ()
void	print_plan ()
Protected Member Functions
void	compute_parking_path (path_t &path_, double start_orient_, double start_x_, double start_y_, double end_orient_, double end_x_, double end_y_)
	compute the curved path fromt start to end
void	note_pk_start (path_t &path_)
	Compute teh starting position and orientation from where parking is going to be attempted.
Protected Attributes
const uc_planner_param_t *	m_uc_param
rndf_point_t *	m_end_rp
double	m_parking_spot_length
double	m_park_x
double	m_park_y
double	m_pre_path_orient
double	m_start_x
double	m_start_y
double	m_start_orient
double	m_park_orient
path_t	m_pk_path
bool	m_first_iteration

---

Constructor & Destructor Documentation

parking_task_planner_t::parking_task_planner_t

(

)

References cajun::FORWARD, cajun::uc_planner_param_t::get_uc_planner_param(), m_first_iteration, cajun::task_planner_t::m_path_dir, cajun::task_planner_t::m_status, cajun::task_planner_t::m_type, m_uc_param, msg_logger, cajun::PARKING_TP, and cajun::PATH_END.

---

Member Function Documentation

void parking_task_planner_t::compute_parking_path	(	path_t &	path_,
		double	start_orient_,
		double	start_x_,
		double	start_y_,
		double	end_orient_,
		double	end_x_,
		double	end_y_
	)			[protected]

compute the curved path fromt start to end

References cajun::extend_path(), m_park_orient, cajun::uc_planner_param_t::m_parking_interp_dist, cajun::uc_planner_param_t::m_parking_max_speed, cajun::uc_planner_param_t::m_parking_min_speed, m_parking_spot_length, m_pre_path_orient, and m_uc_param.

Referenced by generate_path().

path_status_t parking_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::append_path(), compute_parking_path(), cajun::copy_path(), cajun::path_turn_info_t::distance, cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_first_iteration, m_park_orient, m_park_x, m_park_y, cajun::uc_planner_param_t::m_parking_interp_dist, cajun::uc_planner_param_t::m_parking_path_width, m_pk_path, m_start_orient, m_start_x, m_start_y, cajun::task_planner_t::m_status, cajun::task_planner_t::m_turn, m_uc_param, note_pk_start(), cajun::PATH_END, and cajun::task_planner_t::update_local_path().

bool cajun::parking_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 parking_task_planner_t::get_plan

(

rndf_point_t *&

end_wp_id_

)

References m_end_rp.

bool cajun::parking_task_planner_t::is_path_tight

(

)

[inline, virtual]

Reimplemented from cajun::task_planner_t.

bool parking_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_end_rp, cajun::task_planner_t::m_path, cajun::task_planner_t::m_planned_path, m_uc_param, message, msg_logger, and cajun::point_on_path().

void parking_task_planner_t::modify_plan

(

rndf_point_t *

end_wp_id_

)

References m_end_rp, and m_first_iteration.

void parking_task_planner_t::note_pk_start

(

path_t &

path_

)

[protected]

Compute teh starting position and orientation from where parking is going to be attempted.

References m_park_orient, m_park_x, m_park_y, m_pre_path_orient, m_start_orient, m_start_x, and m_start_y.

Referenced by generate_path().

void parking_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 m_end_rp, message, and msg_logger.

void parking_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_rp, message, and msg_logger.

void parking_task_planner_t::set_plan

(

rndf_point_t *

end_wp_id_

)

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_end_rp, m_park_orient, m_park_x, m_park_y, m_parking_spot_length, cajun::task_planner_t::m_reset_base_path, and cajun::task_planner_t::m_rndf.

Referenced by cajun::task_plan_handler_t::add_parking_tp().

---

Member Data Documentation

rndf_point_t* cajun::parking_task_planner_t::m_end_rp [protected]

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

bool cajun::parking_task_planner_t::m_first_iteration [protected]

Referenced by generate_path(), modify_plan(), and parking_task_planner_t().

double cajun::parking_task_planner_t::m_park_orient [protected]

Referenced by compute_parking_path(), generate_path(), note_pk_start(), and set_plan().

double cajun::parking_task_planner_t::m_park_x [protected]

Referenced by generate_path(), note_pk_start(), and set_plan().

double cajun::parking_task_planner_t::m_park_y [protected]

Referenced by generate_path(), note_pk_start(), and set_plan().

double cajun::parking_task_planner_t::m_parking_spot_length [protected]

Referenced by compute_parking_path(), and set_plan().

path_t cajun::parking_task_planner_t::m_pk_path [protected]

Referenced by generate_path().

double cajun::parking_task_planner_t::m_pre_path_orient [protected]

Referenced by compute_parking_path(), and note_pk_start().

double cajun::parking_task_planner_t::m_start_orient [protected]

Referenced by generate_path(), and note_pk_start().

double cajun::parking_task_planner_t::m_start_x [protected]

Referenced by generate_path(), and note_pk_start().

double cajun::parking_task_planner_t::m_start_y [protected]

Referenced by generate_path(), and note_pk_start().

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

Referenced by compute_parking_path(), generate_path(), is_task_complete(), and parking_task_planner_t().

---

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

• parking_task_planner.H
• parking_task_planner.C