cajun::passing_lane_task_planner_t Class Reference

#include <passing_lane_task_planner.H>

Inheritance diagram for cajun::passing_lane_task_planner_t:

List of all members.

Public Member Functions
	passing_lane_task_planner_t ()
void	set_plan (unsigned sid, unsigned lid_1_, unsigned lid_2_, double x_, double y_, double b_dis_)
	, (x_, y_) and start point of blockage, b_len= length of blockage, lid_1_ = start lane id, lid_2_ = end lane id
void	set_path_blocked (unsigned p_id_)
	Returns true if TP's path is in forward direction.
void	set_active ()
	Informs the TP that it is now active.
path_status_t	generate_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_)
	Generate TP's share of path. Returns 'false' if TP following present TP should not 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_path_map_to_lane_lids (std::vector< path_lane_map_t > &pl_ids_)
bool	get_start_lid (unsigned &sid_, unsigned &lid_)
	Returns sid and lid of original lane till bot enters the passing then provide passing lane' sid.
bool	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if TP completed its task.
void	print_plan ()
	Displays the planned path, used only for debugging.
Protected Member Functions
void	compute_end_passing_points (rndf_lane_data_t &lb_, double &end_pass_x, double &end_pass_y)
	Computes the end points on passing lane. Computed every time as shape and position of lanes may be changed over iteration.
void	compute_end_passing_points (world_state_t *ws_, rndf_lane_data_t &lb_, double pres_x_, double pres_y_, double &end_pass_x_, double &end_pass_y_)
	Computes the end points on passing lane. Computed every time as shape and position of lanes may be changed over iteration.
bool	blockage_just_after (world_state_t *ws_, blocked_lane_data_t &blk_, double x_, double y_, unsigned sid_, unsigned lid_, unsigned &wid_, double dis_)
	Returns true if found a blockage within dis_ from x_, y_.
void	blk_end_points (world_state_t *ws_, blocked_lane_data_t const &blk_, double &x_, double &y_, unsigned &wid_)
	Returns wid_ and x_, y_ at end of the blockage (blk_).
bool	blockage_just_before (world_state_t *ws_, blocked_lane_data_t &blk_, double x_, double y_, unsigned sid_, unsigned lid_, unsigned &wid_, double dis_)
void	get_blk_around (world_state_t *ws_, double x_, double y_, std::vector< blocked_lane_data_t > &blk_list_, double dis_)
bool	closest_blk_before_point (world_state_t *ws_, std::vector< blocked_lane_data_t > const &blk_list, blocked_lane_data_t &best_blk_, unsigned sid_1_, unsigned lid_1_, unsigned wid_1_, unsigned sid_2_, unsigned lid_2_, unsigned wid_2_, double x, double y, double &dis_)
void	drive_on_passing_lane (world_state_t *ws_, rndf_lane_data_t &passing_lb_, path_t &path_, double &local_p_len_left_)
bool	stop_before_passing (world_state_t *ws_)
	Returns true if need to stop at intersection, false if everything is good to drive through intersection.
bool	closest_blk_after_point (world_state_t *ws_, std::vector< blocked_lane_data_t > const &blk_list, blocked_lane_data_t &best_blk_, unsigned sid_1_, unsigned lid_1_, unsigned wid_1_, unsigned sid_2_, unsigned lid_2_, unsigned wid_2_, double x, double y, double &dis_)
double	distance_to_end_of_lane (world_state_t *ws_, unsigned sid1_, unsigned lid1_, unsigned wid1_, unsigned sid2_, unsigned lid2_, unsigned wid2_, double x_, double y_)
double	distance_to_beginning_of_lane (world_state_t *ws_, unsigned sid1_, unsigned lid1_, unsigned wid1_, unsigned sid2_, unsigned lid2_, unsigned wid2_, double x_, double y_)
Protected Attributes
const uc_planner_param_t *	m_uc_param
double	m_width_multiplier
double	m_look_ahead_ratio
double	m_dis_from_blk
double	m_dis_after_blk
double	m_stop_time
bool	m_stopped
bool	m_switch_pass_lane
bool	m_drive_on_passing_lane
bool	m_switch_orig_lane
unsigned	m_sid
unsigned	m_lid
unsigned	m_passing_lid
double	m_blk_x
double	m_blk_y
double	m_blk_dis

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Constructor & Destructor Documentation

passing_lane_task_planner_t::passing_lane_task_planner_t

(

)

References 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, msg_logger, and cajun::PASSING_LANE_TP.

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Member Function Documentation

void passing_lane_task_planner_t::blk_end_points	(	world_state_t *	ws_,
		blocked_lane_data_t const &	blk_,
		double &	x_,
		double &	y_,
		unsigned &	wid_
	)			[protected]

Returns wid_ and x_, y_ at end of the blockage (blk_).

References cajun::task_planner_t::m_rndf, m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

Referenced by compute_end_passing_points().

bool passing_lane_task_planner_t::blockage_just_after	(	world_state_t *	ws_,
		blocked_lane_data_t &	blk_,
		double	x_,
		double	y_,
		unsigned	sid_,
		unsigned	lid_,
		unsigned &	wid_,
		double	dis_
	)			[protected]

Returns true if found a blockage within dis_ from x_, y_.

References closest_blk_after_point(), distance_to_end_of_lane(), get_blk_around(), and cajun::task_planner_t::m_rndf.

Referenced by compute_end_passing_points().

bool passing_lane_task_planner_t::blockage_just_before	(	world_state_t *	ws_,
		blocked_lane_data_t &	blk_,
		double	x_,
		double	y_,
		unsigned	sid_,
		unsigned	lid_,
		unsigned &	wid_,
		double	dis_
	)			[protected]

References closest_blk_before_point(), distance_to_beginning_of_lane(), and get_blk_around().

Referenced by compute_end_passing_points().

bool cajun::passing_lane_task_planner_t::closest_blk_after_point	(	world_state_t *	ws_,
		std::vector< blocked_lane_data_t > const &	blk_list,
		blocked_lane_data_t &	best_blk_,
		unsigned	sid_1_,
		unsigned	lid_1_,
		unsigned	wid_1_,
		unsigned	sid_2_,
		unsigned	lid_2_,
		unsigned	wid_2_,
		double	x,
		double	y,
		double &	dis_
	)			[protected]

Referenced by blockage_just_after().

bool cajun::passing_lane_task_planner_t::closest_blk_before_point	(	world_state_t *	ws_,
		std::vector< blocked_lane_data_t > const &	blk_list,
		blocked_lane_data_t &	best_blk_,
		unsigned	sid_1_,
		unsigned	lid_1_,
		unsigned	wid_1_,
		unsigned	sid_2_,
		unsigned	lid_2_,
		unsigned	wid_2_,
		double	x,
		double	y,
		double &	dis_
	)			[protected]

Referenced by blockage_just_before().

void passing_lane_task_planner_t::compute_end_passing_points	(	world_state_t *	ws_,
		rndf_lane_data_t &	lb_,
		double	pres_x_,
		double	pres_y_,
		double &	end_pass_x_,
		double &	end_pass_y_
	)			[protected]

Computes the end points on passing lane. Computed every time as shape and position of lanes may be changed over iteration.

References blk_end_points(), blockage_just_after(), blockage_just_before(), cajun::uc_planner_param_t::m_dis_after_blk, m_lid, cajun::task_planner_t::m_rndf, m_sid, m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

void passing_lane_task_planner_t::compute_end_passing_points	(	rndf_lane_data_t &	lb_,
		double &	end_pass_x,
		double &	end_pass_y
	)			[protected]

Computes the end points on passing lane. Computed every time as shape and position of lanes may be changed over iteration.

References m_blk_dis, m_blk_x, m_blk_y, cajun::uc_planner_param_t::m_dis_after_blk, m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

Referenced by drive_on_passing_lane().

double passing_lane_task_planner_t::distance_to_beginning_of_lane	(	world_state_t *	ws_,
		unsigned	sid1_,
		unsigned	lid1_,
		unsigned	wid1_,
		unsigned	sid2_,
		unsigned	lid2_,
		unsigned	wid2_,
		double	x_,
		double	y_
	)			[protected]

References m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

Referenced by blockage_just_before().

double passing_lane_task_planner_t::distance_to_end_of_lane	(	world_state_t *	ws_,
		unsigned	sid1_,
		unsigned	lid1_,
		unsigned	wid1_,
		unsigned	sid2_,
		unsigned	lid2_,
		unsigned	wid2_,
		double	x_,
		double	y_
	)			[protected]

References m_uc_param, and cajun::uc_planner_param_t::m_width_multiplier.

Referenced by blockage_just_after().

void passing_lane_task_planner_t::drive_on_passing_lane	(	world_state_t *	ws_,
		rndf_lane_data_t &	passing_lb_,
		path_t &	path_,
		double &	local_p_len_left_
	)			[protected]

References cajun::add_rndf_lane_to_path(), compute_end_passing_points(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, m_drive_on_passing_lane, cajun::uc_planner_param_t::m_dynamic_passing_lane_mode, cajun::task_planner_t::m_mdf, m_sid, m_switch_pass_lane, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, and cajun::PATH_OVER.

Referenced by generate_path().

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

Generate TP's share of path. Returns 'false' if TP following present TP should not be called else returns 'true'.

Implements cajun::task_planner_t.

References cajun::add_path_to_switch_lane(), cajun::append_path(), cajun::path_turn_info_t::distance, drive_on_passing_lane(), cajun::task_planner_t::path_lane_map_t::end_x, cajun::task_planner_t::path_lane_map_t::end_y, cajun::task_planner_t::path_lane_map_t::lane_id, cajun::LEFT, cajun::LEFT_TURN, m_drive_on_passing_lane, m_lid, cajun::uc_planner_param_t::m_look_ahead_ratio, m_passing_lid, cajun::task_planner_t::m_path_lane_map, m_sid, cajun::task_planner_t::m_status, m_switch_orig_lane, m_switch_pass_lane, cajun::task_planner_t::m_turn, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, cajun::NO_TURN, cajun::PATH_OKAY, cajun::PATH_OVER, cajun::RIGHT_TURN, cajun::task_planner_t::path_lane_map_t::seg_id, cajun::task_planner_t::path_lane_map_t::start_x, cajun::task_planner_t::path_lane_map_t::start_y, stop_before_passing(), cajun::path_turn_info_t::turn, and cajun::task_planner_t::update_local_path().

void cajun::passing_lane_task_planner_t::get_blk_around	(	world_state_t *	ws_,
		double	x_,
		double	y_,
		std::vector< blocked_lane_data_t > &	blk_list_,
		double	dis_
	)			[protected]

Referenced by blockage_just_after(), and blockage_just_before().

bool passing_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_lid, m_passing_lid, and m_sid.

bool passing_lane_task_planner_t::get_path_map_to_lane_lids

(

std::vector< path_lane_map_t > &

pl_ids_

)

[virtual]

Reimplemented from cajun::task_planner_t.

References cajun::task_planner_t::m_path_lane_map.

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

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

Returns sid and lid of original lane till bot enters the passing then provide passing lane' sid.

Reimplemented from cajun::task_planner_t.

References m_lid, m_passing_lid, m_sid, and m_switch_pass_lane.

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

Returns true if TP completed its task.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_complete, m_passing_lid, m_sid, m_switch_orig_lane, message, and msg_logger.

void passing_lane_task_planner_t::print_plan

(

)

[virtual]

Displays the planned path, used only for debugging.

Implements cajun::task_planner_t.

References m_lid, m_passing_lid, m_sid, message, and msg_logger.

void passing_lane_task_planner_t::set_active

(

)

[virtual]

Informs the TP that it is now active.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_lid, m_passing_lid, cajun::task_planner_t::m_reset_base_path, m_sid, message, and msg_logger.

void passing_lane_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 cajun::task_planner_t::m_path.

void passing_lane_task_planner_t::set_plan	(	unsigned	sid,
		unsigned	lid_1_,
		unsigned	lid_2_,
		double	x_,
		double	y_,
		double	b_dis_
	)

, (x_, y_) and start point of blockage, b_len= length of blockage, lid_1_ = start lane id, lid_2_ = end lane id

References cajun::task_planner_t::m_active, m_blk_dis, m_blk_x, m_blk_y, cajun::task_planner_t::m_complete, m_drive_on_passing_lane, m_lid, m_passing_lid, m_sid, m_stop_time, m_stopped, m_switch_orig_lane, and m_switch_pass_lane.

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

bool passing_lane_task_planner_t::stop_before_passing

(

world_state_t *

ws_

)

[protected]

Returns true if need to stop at intersection, false if everything is good to drive through intersection.

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

Referenced by generate_path().

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Member Data Documentation

double cajun::passing_lane_task_planner_t::m_blk_dis [protected]

Referenced by compute_end_passing_points(), and set_plan().

double cajun::passing_lane_task_planner_t::m_blk_x [protected]

Referenced by compute_end_passing_points(), and set_plan().

double cajun::passing_lane_task_planner_t::m_blk_y [protected]

Referenced by compute_end_passing_points(), and set_plan().

double cajun::passing_lane_task_planner_t::m_dis_after_blk [protected]

double cajun::passing_lane_task_planner_t::m_dis_from_blk [protected]

bool cajun::passing_lane_task_planner_t::m_drive_on_passing_lane [protected]

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

unsigned cajun::passing_lane_task_planner_t::m_lid [protected]

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

double cajun::passing_lane_task_planner_t::m_look_ahead_ratio [protected]

unsigned cajun::passing_lane_task_planner_t::m_passing_lid [protected]

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

unsigned cajun::passing_lane_task_planner_t::m_sid [protected]

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

double cajun::passing_lane_task_planner_t::m_stop_time [protected]

Referenced by set_plan(), and stop_before_passing().

bool cajun::passing_lane_task_planner_t::m_stopped [protected]

Referenced by set_plan(), and stop_before_passing().

bool cajun::passing_lane_task_planner_t::m_switch_orig_lane [protected]

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

bool cajun::passing_lane_task_planner_t::m_switch_pass_lane [protected]

Referenced by drive_on_passing_lane(), generate_path(), get_start_lid(), and set_plan().

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

Referenced by blk_end_points(), compute_end_passing_points(), distance_to_beginning_of_lane(), distance_to_end_of_lane(), drive_on_passing_lane(), generate_path(), passing_lane_task_planner_t(), and stop_before_passing().

double cajun::passing_lane_task_planner_t::m_width_multiplier [protected]

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

• passing_lane_task_planner.H
• passing_lane_task_planner.C