cajun::task_plan_handler_t Class Reference

#include <task_plan_handler.H>

Public Member Functions
	task_plan_handler_t (tp_plan_t tp_plan_, world_state_t ws_, mission_handler_t mh, rndf_t const rndf_, mdf_t const *mdf_)
void	pass_lane (blocked_lane_data_t &blk_data, unsigned path_blk_ind_)
	Handles blocked LF_TP by modifying its goal to before block point, and adding PL_TP to avoid the blockage and a LF_TP to complete the original LF_TP's goal.
void	insert_UT_TP (unsigned tp_index_, unsigned sid_, unsigned lid_1_, unsigned lid_2_)
	Creates and inserts a 'Lane following TP' to the m_plan at specified index.
void	plan_task_planner (mission_plan_t &mission_plan_)
	Creates list of task planners to achieve the mission plan, which is a list of waypoints. m_plan is updated with this list of task planners.
void	flush_tps ()
	Removes all task planners.
void	print ()
Private Member Functions
bool	insert_PL_TP (unsigned tp_index_, blocked_lane_data_t &blk_data, unsigned sid, unsigned org_lid, unsigned passing_lid, double blk_x, double blk_y, double orig_end_x, double orig_end_y)
	Creates and Inserts 'passing lane TP' to the plan_ at specified index.
void	insert_LF_TP (unsigned tp_index_, rndf_point_t *lane_end_wp_id, double l_end_x, double l_end_y)
	Creates and inserts a 'Lane following TP' to the m_plan at specified index.
void	insert_to_task_plan (task_planner_t *tp_, unsigned pos_)
	Inserts given TP at specified index in plan_ task planner list.
double	dis_before_LC (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_)
	returns -1 if lane is not long enough to drive for a while before LC. Else if lane length left apart from that being used for changing lane is greater than dis_before_LC, than retuns dis_before_LC. Else if half of the distance left apart from that being used for changing lane
void	add_lane_tp (rndf_point_t wp_id_2_, tp_plan_t tp_plan_)
	creates and adds a LF_TP to tp_plan_
void	add_intersection_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
	creates and adds a IT_TP to tp_plan_
void	add_initial_lf (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
void	add_change_lane_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
	creates and adds a CL_TP to tp_plan_
void	add_uturn_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
	creates and adds a UT_TP to tp_plan_
void	add_zone_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
void	add_parking_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
void	add_unparking_tp (rndf_point_t wp_id_1_, rndf_point_t wp_id_2_, tp_plan_t *tp_plan_)
Private Attributes
tp_plan_t *	m_tp_plan
world_state_t *	m_ws
mission_handler_t *	m_mh
rndf_t const *	m_rndf
mdf_t const *	m_mdf
uc_planner_param_t const *	m_uc_param

Constructor & Destructor Documentation

cajun::task_plan_handler_t::task_plan_handler_t	(	tp_plan_t *	tp_plan_,
		world_state_t *	ws_,
		mission_handler_t *	mh,
		rndf_t const *	rndf_,
		mdf_t const *	mdf_
	)			`[inline]`

References cajun::uc_planner_param_t::get_uc_planner_param(), and m_uc_param.

Member Function Documentation

void task_plan_handler_t::add_change_lane_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

creates and adds a CL_TP to tp_plan_

References add_initial_lf(), add_lane_tp(), cajun::task_planner_t::init(), m_mdf, m_rndf, and cajun::change_lane_task_planner_t::set_plan().

Referenced by plan_task_planner().

void task_plan_handler_t::add_initial_lf	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

point on present lane to follow to

References dis_before_LC(), cajun::track_annotation_t::get_lane_clipages(), cajun::rndf_point_t::id(), cajun::task_planner_t::init(), cajun::lane_clipage_info_t::lid1, cajun::lane_clipage_info_t::lid2, cajun::uc_planner_param_t::m_lane_clippage_extra_drive_dis, m_mdf, m_mh, m_rndf, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, m_ws, cajun::mission_handler_t::rndf_point_at_wp(), cajun::lane_task_planner_t::set_plan(), cajun::lane_clipage_info_t::sid, and cajun::lane_clipage_info_t::wid_before.

Referenced by add_change_lane_tp().

void task_plan_handler_t::add_intersection_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

creates and adds a IT_TP to tp_plan_

References cajun::rndf_point_t::is_entry(), cajun::rndf_point_t::is_exit(), cajun::rndf_point_t::is_stop(), m_mdf, m_rndf, and m_ws.

Referenced by plan_task_planner().

void task_plan_handler_t::add_lane_tp	(	rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

creates and adds a LF_TP to tp_plan_

References cajun::task_planner_t::init(), m_mdf, m_rndf, cajun::lane_task_planner_t::set_plan(), cajun::rndf_point_t::x(), and cajun::rndf_point_t::y().

Referenced by add_change_lane_tp(), and plan_task_planner().

void task_plan_handler_t::add_parking_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

References cajun::task_planner_t::init(), m_mdf, m_rndf, and cajun::parking_task_planner_t::set_plan().

Referenced by plan_task_planner().

void task_plan_handler_t::add_unparking_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

References cajun::task_planner_t::init(), m_mdf, m_rndf, and cajun::unparking_task_planner_t::set_plan().

Referenced by plan_task_planner().

void task_plan_handler_t::add_uturn_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

creates and adds a UT_TP to tp_plan_

References cajun::task_planner_t::init(), m_mdf, m_rndf, and cajun::uturn_task_planner_t::set_plan().

Referenced by plan_task_planner().

void task_plan_handler_t::add_zone_tp	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_,
		tp_plan_t *	tp_plan_
	)			`[private]`

References cajun::task_planner_t::init(), cajun::rndf_point_t::is_spot(), m_mdf, m_rndf, m_ws, and cajun::zone_task_planner_t::set_plan().

Referenced by plan_task_planner().

double task_plan_handler_t::dis_before_LC	(	rndf_point_t *	wp_id_1_,
		rndf_point_t *	wp_id_2_
	)			`[private]`

returns -1 if lane is not long enough to drive for a while before LC. Else if lane length left apart from that being used for changing lane is greater than dis_before_LC, than retuns dis_before_LC. Else if half of the distance left apart from that being used for changing lane

References cajun::uc_planner_param_t::dis_before_LC, cajun::uc_planner_param_t::m_look_ahead_ratio, m_rndf, m_uc_param, cajun::rndf_point_t::x(), and cajun::rndf_point_t::y().

Referenced by add_initial_lf().

void cajun::task_plan_handler_t::flush_tps ( ) [inline]

Removes all task planners.

References m_tp_plan.

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

void task_plan_handler_t::insert_LF_TP	(	unsigned	tp_index_,
		rndf_point_t *	lane_end_wp_id,
		double	l_end_x,
		double	l_end_y
	)			`[private]`

Creates and inserts a 'Lane following TP' to the m_plan at specified index.

References cajun::task_planner_t::init(), insert_to_task_plan(), m_mdf, m_rndf, and cajun::lane_task_planner_t::set_plan().

Referenced by pass_lane().

bool task_plan_handler_t::insert_PL_TP	(	unsigned	tp_index_,
		blocked_lane_data_t &	blk_data,
		unsigned	sid,
		unsigned	org_lid,
		unsigned	passing_lid,
		double	blk_x,
		double	blk_y,
		double	orig_end_x,
		double	orig_end_y
	)			`[private]`

Creates and Inserts 'passing lane TP' to the plan_ at specified index.

References cajun::task_planner_t::generate_path(), cajun::uc_planner_param_t::get_uc_planner_param(), cajun::task_planner_t::init(), insert_to_task_plan(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, m_mdf, m_rndf, m_tp_plan, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, m_ws, and cajun::passing_lane_task_planner_t::set_plan().

Referenced by pass_lane().

void task_plan_handler_t::insert_to_task_plan	(	task_planner_t *	tp_,
		unsigned	pos_
	)			`[private]`

Inserts given TP at specified index in plan_ task planner list.

References m_tp_plan.

Referenced by insert_LF_TP(), insert_PL_TP(), and insert_UT_TP().

void task_plan_handler_t::insert_UT_TP	(	unsigned	tp_index_,
		unsigned	sid_,
		unsigned	lid_1_,
		unsigned	lid_2_
	)

Creates and inserts a 'Lane following TP' to the m_plan at specified index.

References cajun::task_planner_t::init(), insert_to_task_plan(), m_mdf, m_rndf, and cajun::uturn_task_planner_t::set_plan().

void task_plan_handler_t::pass_lane	(	blocked_lane_data_t &	blk_data,
		unsigned	path_blk_ind_
	)

Handles blocked LF_TP by modifying its goal to before block point, and adding PL_TP to avoid the blockage and a LF_TP to complete the original LF_TP's goal.

References cajun::task_planner_t::get_path(), cajun::lane_task_planner_t::get_plan(), insert_LF_TP(), insert_PL_TP(), cajun::LANE_TP, m_rndf, m_tp_plan, and cajun::passing_lane_id().

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

void task_plan_handler_t::plan_task_planner ( mission_plan_t & mission_plan_ )

Creates list of task planners to achieve the mission plan, which is a list of waypoints. m_plan is updated with this list of task planners.

References add_change_lane_tp(), add_intersection_tp(), add_lane_tp(), add_parking_tp(), add_unparking_tp(), add_uturn_tp(), add_zone_tp(), cajun::CHANGE_LANE_TP, cajun::INTERSECTION_TP, cajun::LANE_TP, cajun::uc_planner_param_t::m_print_plan, m_rndf, m_tp_plan, m_uc_param, message, msg_logger, cajun::PARKING_TP, cajun::tp_package_t::rp_1, cajun::tp_package_t::rp_2, cajun::task_planner_for_mission(), cajun::tp_package_t::tp_type, cajun::UNPARKING_TP, cajun::UTURN_TP, and cajun::ZONE_TP.