cajun::planner_t Class Reference

#include <planner.H>

Public Member Functions
	planner_t (mdf_t const mdf_, rndf_t const rndf_, world_state_t *ws_)
	~planner_t ()
void	init ()
void	get_steering_path (path_data_t &d_, path_data_t &base_path_)
	Compute path by calling task planners from m_plan.
path_turn_info_t	get_path_turn_info ()
	Returns the status of up-coming or present turn.
bool	is_finished ()
void	get_mission_status (mission_status_data_t &ms_)
	Returns present mission status, which includes next checkpoint id, num checkpoints left and num task planners left.
void	get_pres_lid (unsigned &sid_, unsigned &lid_)
	Returns lane id on which bot is on.
Protected Member Functions
void	get_path (std::deque< task_planner_t * > &task_plan_, path_t &path, const path_t &b_path)
bool	get_path_direction (std::deque< task_planner_t * > &task_plan_)
void	update_path_flags (path_data_t &path_data_, path_data_t &b_path_data_)
	Updates the path's flag like, direction (forward, reverse), tight_path (true, false).
bool	update_waypoints_reached (double x_, double y_)
bool	ready_to_handle_blocked_lane (const path_t &b_path, unsigned blk_tp_ind_)
	Returns true if given blockage is on a active task planner's path and bot crossed the point on the path with zero speed.
void	update_task_planner_status (double x_, double y_, double heading_)
	Check if a task planner is done and if so removes the task planner from m_plan list.
void	update_planner_state ()
	Check if the mission if complete, else if mission is not done but m_plan with task planners is done then call update_plan to compute new plan. Returns false if mission is completed, else returns true.
void	set_final_speed_limit (path_t &path_)
	Set the speed of final point in the path to zero.
void	get_base_path (path_t &path_)
void	reset_path_speed (path_t &path_)
	Reset the speed of the path, this function is not being use. This functions walks from end of the path to the beginning of the path check for first non zero speed and set the speed of the path following from that poitn to this speed. Was called to unset the zero speed path segment.
void	adjust_path_speeds (path_t &path, const path_t &b_path)
	Goes through the path to find a point with zero speed limits, if found, sets speed of following points to zero.
void	limit_path_speed (std::deque< task_planner_t * > &task_plan_, unsigned tp_ind_, unsigned path_ind_, double speed_)
bool	analyze_path (path_t &b_path_)
	Goes through the path and check if its blocked by static obstacles and then by dynamic obstacles. Also handles the situation if blocked. Returns true = path is okay, false = path is not okay and re-generate the path.
void	convoy_dynamic_object (blocked_lane_data_t &blk_data, unsigned blk_tp_ind, unsigned path_blk_index, double blk_speed)
	Handles if the path is blocked by a dynamic object. Presently it sets the speed so as maintain safe distance from front vehicle.
double	dis_along_path (double x1_, double y1_, unsigned tp_ind_, unsigned path_ind_)
	Computes the distance along the global path, from (x1_, y1_) to bot's bumper.
void	print_plan (std::deque< rndf_t::waypoint_id_t > const &detail_plan_, std::deque< rndf_t::waypoint_id_t > const &filtered_plan_)
	Prints the detail and filter plans.
void	update_plan (bool could_be_at_start_shoot_=false)
	Update the mission plan and task planners.
double	distance_from_static_blk (std::deque< task_planner_t * > const &plan_, blocked_lane_data_t const &blk_, unsigned tp_ind_, unsigned path_ind_)
	Returns true if its confirmed sitting before blocked lane with low speed for some fixed amount of time. This is added to compensate lack of determining static and dynamic objects.
double	compute_convoy_dis (double speed_)
bool	convoy_for_dyn_blk (unsigned blk_tp_ind, blocked_lane_data_t const &blk)
Protected Attributes
const uc_planner_param_t *	m_uc_param
double	m_passing_lane_confirm_tstamp
mdf_t const *	m_mdf
rndf_t const *	m_rndf
path_generator_t *	m_path_generator
path_verifier_t *	m_path_verifier
traffic_verifier_t *	m_traffic_verifier
base_path_provider_t *	m_base_path_provider
task_plan_handler_t *	m_tp_handler
mission_handler_t *	m_mission_handler
std::deque< task_planner_t * >	m_plan
mission_plan_t	m_mission_plan
world_state_t *	m_world_state
state_machine_t *	m_sm
bool	m_first_iteration

Constructor & Destructor Documentation

planner_t::planner_t	(	mdf_t const *	mdf_,
		rndf_t const *	rndf_,
		world_state_t *	ws_
	)

References cajun::uc_planner_param_t::get_uc_planner_param(), m_base_path_provider, m_first_iteration, m_mdf, m_mission_handler, m_mission_plan, m_passing_lane_confirm_tstamp, m_path_generator, m_path_verifier, m_plan, m_rndf, m_sm, m_tp_handler, m_traffic_verifier, m_uc_param, m_world_state, and msg_logger.

planner_t::~planner_t ( )

Member Function Documentation

void planner_t::adjust_path_speeds	(	path_t &	path,
		const path_t &	b_path
	)			`[protected]`

Goes through the path to find a point with zero speed limits, if found, sets speed of following points to zero.

bool planner_t::analyze_path ( path_t & b_path_ ) [protected]

Goes through the path and check if its blocked by static obstacles and then by dynamic obstacles. Also handles the situation if blocked. Returns true = path is okay, false = path is not okay and re-generate the path.

m_uc_param->m_treat_dynamic_as_static &&

References convoy_dynamic_object(), convoy_for_dyn_blk(), distance_from_static_blk(), cajun::DYNAMIC, cajun::path_verifier_t::is_task_path_good(), m_path_verifier, m_plan, m_sm, m_traffic_verifier, cajun::uc_planner_param_t::m_treat_dynamic_as_static, m_uc_param, cajun::state_machine_t::nudge_path(), cajun::traffic_verifier_t::path_free_of_traffic(), cajun::STATIC, cajun::state_machine_t::tp_blocked(), cajun::trace_back_global_path(), and cajun::state_machine_t::update_state().

Referenced by get_steering_path().

double planner_t::compute_convoy_dis ( double speed_ ) [protected]

References cajun::uc_planner_param_t::m_convoy_extra_dis, m_uc_param, and cajun::uc_planner_param_t::m_vehicle_length.

Referenced by convoy_dynamic_object().

void planner_t::convoy_dynamic_object	(	blocked_lane_data_t &	blk_data,
		unsigned	blk_tp_ind,
		unsigned	path_blk_index,
		double	blk_speed
	)			`[protected]`

Handles if the path is blocked by a dynamic object. Presently it sets the speed so as maintain safe distance from front vehicle.

References compute_convoy_dis(), dis_along_path(), limit_path_speed(), m_plan, cajun::uc_planner_param_t::m_suggested_acceleration, m_uc_param, m_world_state, and cajun::trace_back_global_path().

Referenced by analyze_path().

bool planner_t::convoy_for_dyn_blk	(	unsigned	blk_tp_ind,
		blocked_lane_data_t const &	blk
	)			`[protected]`

References cajun::CHANGE_LANE_TP, cajun::LANE_TP, and m_plan.

Referenced by analyze_path().

double planner_t::dis_along_path	(	double	x1_,
		double	y1_,
		unsigned	tp_ind_,
		unsigned	path_ind_
	)			`[protected]`

Computes the distance along the global path, from (x1_, y1_) to bot's bumper.

References m_plan, and m_world_state.

Referenced by convoy_dynamic_object().

double planner_t::distance_from_static_blk	(	std::deque< task_planner_t * > const &	plan_,
		blocked_lane_data_t const &	blk_,
		unsigned	tp_ind_,
		unsigned	path_ind_
	)			`[protected]`

Returns true if its confirmed sitting before blocked lane with low speed for some fixed amount of time. This is added to compensate lack of determining static and dynamic objects.

References cajun::before_intersection_within_dis(), cajun::INTERSECTION_TP, cajun::LANE_TP, cajun::uc_planner_param_t::m_before_stop_intersection_safety_dis, cajun::uc_planner_param_t::m_intersection_queuing_distance, cajun::uc_planner_param_t::m_LF_safety_blk_distance, cajun::uc_planner_param_t::m_min_dis_from_blk, cajun::uc_planner_param_t::m_min_dis_from_uturn_blk, m_rndf, cajun::uc_planner_param_t::m_small_dis_from_blk_at_intersection, m_uc_param, m_world_state, and cajun::UTURN_TP.

Referenced by analyze_path().

void cajun::planner_t::get_base_path ( path_t & path_ ) [protected]

void planner_t::get_mission_status ( mission_status_data_t & ms_ )

Returns present mission status, which includes next checkpoint id, num checkpoints left and num task planners left.

References cajun::mission_handler_t::get_next_checkpoint_id(), cajun::mission_handler_t::get_num_checkpoints_left(), m_mission_handler, and m_plan.

Referenced by publish_mission_status().

void cajun::planner_t::get_path	(	std::deque< task_planner_t * > &	task_plan_,
		path_t &	path,
		const path_t &	b_path
	)			`[protected]`

Referenced by get_steering_path(), and ready_to_handle_blocked_lane().

bool cajun::planner_t::get_path_direction ( std::deque< task_planner_t * > & task_plan_ ) [protected]

Referenced by update_path_flags().

path_turn_info_t planner_t::get_path_turn_info ( )

Returns the status of up-coming or present turn.

References cajun::path_turn_info_t::distance, m_plan, cajun::uc_planner_param_t::m_signal_lookahead_dis, m_uc_param, cajun::NO_TURN, and cajun::path_turn_info_t::turn.

void planner_t::get_pres_lid	(	unsigned &	sid_,
		unsigned &	lid_
	)

Returns lane id on which bot is on.

References m_plan.

Referenced by publish_mission_status().

void planner_t::get_steering_path	(	path_data_t &	d_,
		path_data_t &	base_path_
	)

Compute path by calling task planners from m_plan.

References analyze_path(), cajun::copy_path(), cajun::filter_path(), cajun::path_generator_t::generate_path(), cajun::base_path_provider_t::get_base_path(), get_path(), m_base_path_provider, m_path_generator, m_plan, m_sm, cajun::path_nudger_t::nudge_path(), cajun::state_machine_t::nudge_path(), path_nudger, cajun::path_generator_t::reset_base_path(), set_final_speed_limit(), update_path_flags(), update_planner_state(), and cajun::base_path_provider_t::update_prev_path().

Referenced by main().

void planner_t::init ( )

References update_plan().

Referenced by main().

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

References cajun::mission_handler_t::is_finished(), and m_mission_handler.

Referenced by main().

void cajun::planner_t::limit_path_speed	(	std::deque< task_planner_t * > &	task_plan_,
		unsigned	tp_ind_,
		unsigned	path_ind_,
		double	speed_
	)			`[protected]`

Referenced by convoy_dynamic_object().

void planner_t::print_plan	(	std::deque< rndf_t::waypoint_id_t > const &	detail_plan_,
		std::deque< rndf_t::waypoint_id_t > const &	filtered_plan_
	)			`[protected]`

Prints the detail and filter plans.

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

bool planner_t::ready_to_handle_blocked_lane	(	const path_t &	b_path,
		unsigned	blk_tp_ind_
	)			`[protected]`

Returns true if given blockage is on a active task planner's path and bot crossed the point on the path with zero speed.

References get_path(), m_plan, m_world_state, and cajun::point_on_path().

void planner_t::reset_path_speed ( path_t & path_ ) [protected]

Reset the speed of the path, this function is not being use. This functions walks from end of the path to the beginning of the path check for first non zero speed and set the speed of the path following from that poitn to this speed. Was called to unset the zero speed path segment.

void planner_t::set_final_speed_limit ( path_t & path_ ) [protected]

Set the speed of final point in the path to zero.

Referenced by get_steering_path().

void planner_t::update_path_flags	(	path_data_t &	path_data_,
		path_data_t &	b_path_data_
	)			`[protected]`

Updates the path's flag like, direction (forward, reverse), tight_path (true, false).

References get_path_direction(), and m_plan.

Referenced by get_steering_path().

void planner_t::update_plan ( bool could_be_at_start_shoot_ = false ) [protected]

Update the mission plan and task planners.

References m_mission_handler, m_mission_plan, m_plan, m_tp_handler, m_world_state, cajun::task_plan_handler_t::plan_task_planner(), cajun::mission_handler_t::print_plan(), and cajun::mission_handler_t::update_plan().

Referenced by init(), and update_task_planner_status().

void planner_t::update_planner_state ( ) [protected]

Check if the mission if complete, else if mission is not done but m_plan with task planners is done then call update_plan to compute new plan. Returns false if mission is completed, else returns true.

References cajun::mission_handler_t::is_finished(), m_mission_handler, m_world_state, msg_logger, update_task_planner_status(), and cajun::mission_handler_t::update_waypoints_reached().

Referenced by get_steering_path().