cajun::task_planner_t Class Reference

#include <task_planner.H>

Inheritance diagram for cajun::task_planner_t:

List of all members.

Classes
struct	path_lane_map_t
Public Member Functions
virtual	~task_planner_t ()
virtual void	set_active ()=0
	Informs the TP that it is now active.
virtual path_status_t	generate_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_)=0
	Generate TP's share of path. Returns 'false' if TP following present TP should not be called else returns 'true'.
const path_t *	get_path ()
	Return paths last planned.
path_direction_t	path_direction ()
	Returns true if TP's path is in forward direction.
path_status_t	path_status ()
	Returns TP's path status, e.g error, complete, etc.
virtual void	set_path_blocked (unsigned p_id_)
	Returns true if TP's path is in forward direction.
void	limit_path_speed (unsigned p_id_, double speed_)
	Informs the TP that its path speed at index p_id_ should be speed_.
void	limit_following_path_speed (unsigned p_id_, double speed_)
bool	is_active ()
	Returns true if TP is active, else return false.
virtual 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.
virtual bool	get_path_map_to_lane_lids (std::vector< path_lane_map_t > &pl_ids_)
virtual bool	get_start_lid (unsigned &sid_, unsigned &lid_)
	Returns the id of the lane on which the its path starts.
path_turn_info_t	get_path_turn_info ()
	Returns turn info that TP will attempt.
virtual bool	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)=0
	Returns true if TP completed its task.
virtual void	print_plan ()=0
	Displays the planned path, used only for debugging.
void	init (mdf_t const *mdf_, rndf_t const *rndf_)
	Initialize the TP by providing it the mission info (mdf_) and city lane info.
bool	reset_base_path ()
	Resets the base path used by TP.
TP_type_t	type ()
virtual bool	is_path_tight ()
virtual bool	is_quick_acceleration_path ()
void	print_path_map ()
Public Attributes
std::vector< path_lane_map_t >	m_path_lane_map
Protected Member Functions
void	update_local_path (const path_t &path_, const path_t &b_path_)
Protected Attributes
mdf_t const *	m_mdf
rndf_t const *	m_rndf
path_t	m_path
bool	m_planned_path
path_status_t	m_status
TP_type_t	m_type
bool	m_active
bool	m_complete
bool	m_reset_base_path
path_direction_t	m_path_dir
path_turn_info_t	m_turn

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Constructor & Destructor Documentation

virtual cajun::task_planner_t::~task_planner_t

(

)

[inline, virtual]

---

Member Function Documentation

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

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

Implemented in cajun::change_lane_task_planner_t, cajun::intersection_task_planner_t, cajun::lane_task_planner_t, cajun::parking_task_planner_t, cajun::passing_lane_task_planner_t, cajun::unparking_task_planner_t, cajun::uturn_task_planner_t, and cajun::zone_task_planner_t.

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

const path_t* cajun::task_planner_t::get_path

(

)

[inline]

Return paths last planned.

References m_path.

Referenced by cajun::traffic_verifier_t::change_lane_free_of_traffic(), cajun::state_machine_t::drove_to_blk_safety_distance(), cajun::traffic_verifier_t::intersection_free_of_traffic(), cajun::task_plan_handler_t::pass_lane(), cajun::state_machine_t::tp_blocked(), and cajun::traffic_verifier_t::uturn_free_of_traffic().

virtual bool cajun::task_planner_t::get_path_lane_lids	(	unsigned &	sid_,
		std::vector< unsigned > &	lids_
	)			[inline, 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 in cajun::change_lane_task_planner_t, cajun::intersection_task_planner_t, cajun::lane_task_planner_t, cajun::parking_task_planner_t, cajun::passing_lane_task_planner_t, cajun::unparking_task_planner_t, cajun::uturn_task_planner_t, and cajun::zone_task_planner_t.

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

virtual bool cajun::task_planner_t::get_path_map_to_lane_lids

(

std::vector< path_lane_map_t > &

pl_ids_

)

[inline, virtual]

Reimplemented in cajun::passing_lane_task_planner_t.

path_turn_info_t cajun::task_planner_t::get_path_turn_info

(

)

[inline]

Returns turn info that TP will attempt.

References m_turn.

virtual bool cajun::task_planner_t::get_start_lid	(	unsigned &	sid_,
		unsigned &	lid_
	)			[inline, virtual]

Returns the id of the lane on which the its path starts.

Reimplemented in cajun::change_lane_task_planner_t, cajun::lane_task_planner_t, and cajun::passing_lane_task_planner_t.

void task_planner_t::init	(	mdf_t const *	mdf_,
		rndf_t const *	rndf_
	)

Initialize the TP by providing it the mission info (mdf_) and city lane info.

References m_mdf, m_planned_path, and m_rndf.

Referenced by cajun::task_plan_handler_t::add_change_lane_tp(), cajun::task_plan_handler_t::add_initial_lf(), cajun::task_plan_handler_t::add_lane_tp(), cajun::task_plan_handler_t::add_parking_tp(), cajun::task_plan_handler_t::add_unparking_tp(), cajun::task_plan_handler_t::add_uturn_tp(), cajun::task_plan_handler_t::add_zone_tp(), cajun::state_machine_t::change_lane(), cajun::task_plan_handler_t::insert_LF_TP(), cajun::task_plan_handler_t::insert_PL_TP(), and cajun::task_plan_handler_t::insert_UT_TP().

bool cajun::task_planner_t::is_active

(

)

[inline]

Returns true if TP is active, else return false.

References m_active.

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

virtual bool cajun::task_planner_t::is_path_tight

(

)

[inline, virtual]

Reimplemented in cajun::parking_task_planner_t, cajun::unparking_task_planner_t, and cajun::uturn_task_planner_t.

virtual bool cajun::task_planner_t::is_quick_acceleration_path

(

)

[inline, virtual]

Reimplemented in cajun::intersection_task_planner_t.

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

Returns true if TP completed its task.

Implemented in cajun::change_lane_task_planner_t, cajun::intersection_task_planner_t, cajun::lane_task_planner_t, cajun::parking_task_planner_t, cajun::passing_lane_task_planner_t, cajun::unparking_task_planner_t, cajun::uturn_task_planner_t, and cajun::zone_task_planner_t.

void task_planner_t::limit_following_path_speed	(	unsigned	p_id_,
		double	speed_
	)

References limit_path_speed(), and m_path.

void task_planner_t::limit_path_speed	(	unsigned	p_id_,
		double	speed_
	)

Informs the TP that its path speed at index p_id_ should be speed_.

References m_path.

Referenced by limit_following_path_speed().

path_direction_t cajun::task_planner_t::path_direction

(

)

[inline]

Returns true if TP's path is in forward direction.

References m_path_dir.

path_status_t cajun::task_planner_t::path_status

(

)

[inline]

Returns TP's path status, e.g error, complete, etc.

References m_status.

Referenced by cajun::last_tp_planned().

void task_planner_t::print_path_map

(

)

References m_path_lane_map.

virtual void cajun::task_planner_t::print_plan

(

)

[pure virtual]

Displays the planned path, used only for debugging.

Implemented in cajun::change_lane_task_planner_t, cajun::intersection_task_planner_t, cajun::lane_task_planner_t, cajun::parking_task_planner_t, cajun::passing_lane_task_planner_t, cajun::unparking_task_planner_t, cajun::uturn_task_planner_t, and cajun::zone_task_planner_t.

bool cajun::task_planner_t::reset_base_path

(

)

[inline]

Resets the base path used by TP.

References m_reset_base_path.

virtual void cajun::task_planner_t::set_active

(

)

[pure virtual]

Informs the TP that it is now active.

Implemented in cajun::change_lane_task_planner_t, cajun::intersection_task_planner_t, cajun::lane_task_planner_t, cajun::parking_task_planner_t, cajun::passing_lane_task_planner_t, cajun::unparking_task_planner_t, cajun::uturn_task_planner_t, and cajun::zone_task_planner_t.

void 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 in cajun::intersection_task_planner_t, and cajun::passing_lane_task_planner_t.

References m_path, m_status, and cajun::PATH_BLOCKED.

TP_type_t cajun::task_planner_t::type

(

)

[inline]

References m_type.

Referenced by cajun::state_machine_t::blk_after_stop_intersection(), cajun::state_machine_t::blk_before_stop_intersection(), and cajun::traffic_verifier_t::tp_path_free_of_traffic().

void task_planner_t::update_local_path	(	const path_t &	path_,
		const path_t &	b_path_
	)			[protected]

References m_path, and m_planned_path.

Referenced by cajun::zone_task_planner_t::generate_new_path(), cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::passing_lane_task_planner_t::generate_path(), cajun::parking_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), cajun::intersection_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), and cajun::zone_task_planner_t::get_from_local_path().

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Member Data Documentation

bool cajun::task_planner_t::m_active [protected]

Referenced by cajun::intersection_task_planner_t::add_intersection_path(), cajun::zone_task_planner_t::generate_path(), cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::parking_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), cajun::intersection_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), is_active(), cajun::zone_task_planner_t::set_active(), cajun::uturn_task_planner_t::set_active(), cajun::unparking_task_planner_t::set_active(), cajun::passing_lane_task_planner_t::set_active(), cajun::parking_task_planner_t::set_active(), cajun::lane_task_planner_t::set_active(), cajun::intersection_task_planner_t::set_active(), cajun::change_lane_task_planner_t::set_active(), cajun::zone_task_planner_t::set_plan(), cajun::uturn_task_planner_t::set_plan(), cajun::unparking_task_planner_t::set_plan(), cajun::passing_lane_task_planner_t::set_plan(), cajun::parking_task_planner_t::set_plan(), cajun::lane_task_planner_t::set_plan(), cajun::intersection_task_planner_t::set_plan(), cajun::change_lane_task_planner_t::set_plan(), cajun::zone_task_planner_t::start_orient(), cajun::passing_lane_task_planner_t::stop_before_passing(), and cajun::intersection_task_planner_t::stop_for_stop_sign().

bool cajun::task_planner_t::m_complete [protected]

Referenced by cajun::zone_task_planner_t::generate_path(), cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::parking_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), cajun::intersection_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), cajun::zone_task_planner_t::is_task_complete(), cajun::uturn_task_planner_t::is_task_complete(), cajun::unparking_task_planner_t::is_task_complete(), cajun::passing_lane_task_planner_t::is_task_complete(), cajun::parking_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::is_task_complete(), cajun::intersection_task_planner_t::is_task_complete(), cajun::change_lane_task_planner_t::is_task_complete(), cajun::passing_lane_task_planner_t::set_active(), cajun::change_lane_task_planner_t::set_active(), cajun::zone_task_planner_t::set_plan(), cajun::uturn_task_planner_t::set_plan(), cajun::unparking_task_planner_t::set_plan(), cajun::passing_lane_task_planner_t::set_plan(), cajun::parking_task_planner_t::set_plan(), cajun::lane_task_planner_t::set_plan(), cajun::intersection_task_planner_t::set_plan(), and cajun::change_lane_task_planner_t::set_plan().

mdf_t const* cajun::task_planner_t::m_mdf [protected]

Referenced by cajun::passing_lane_task_planner_t::drive_on_passing_lane(), cajun::zone_task_planner_t::generate_new_path(), cajun::uturn_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), init(), and cajun::intersection_task_planner_t::set_plan().

path_t cajun::task_planner_t::m_path [protected]

Referenced by cajun::zone_task_planner_t::generate_path(), cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::zone_task_planner_t::get_from_local_path(), get_path(), cajun::zone_task_planner_t::is_task_complete(), cajun::unparking_task_planner_t::is_task_complete(), cajun::parking_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::is_task_complete(), cajun::intersection_task_planner_t::is_task_complete(), cajun::change_lane_task_planner_t::is_task_complete(), limit_following_path_speed(), limit_path_speed(), set_path_blocked(), cajun::passing_lane_task_planner_t::set_path_blocked(), cajun::intersection_task_planner_t::set_path_blocked(), and update_local_path().

path_direction_t cajun::task_planner_t::m_path_dir [protected]

Referenced by cajun::change_lane_task_planner_t::change_lane_task_planner_t(), cajun::uturn_task_planner_t::generate_path(), cajun::intersection_task_planner_t::intersection_task_planner_t(), cajun::lane_task_planner_t::lane_task_planner_t(), cajun::uturn_task_planner_t::limit_turn_speed_limits(), cajun::parking_task_planner_t::parking_task_planner_t(), cajun::passing_lane_task_planner_t::passing_lane_task_planner_t(), path_direction(), cajun::unparking_task_planner_t::unparking_task_planner_t(), cajun::uturn_task_planner_t::uturn_task_planner_t(), and cajun::zone_task_planner_t::zone_task_planner_t().

std::vector<path_lane_map_t> cajun::task_planner_t::m_path_lane_map

Referenced by cajun::passing_lane_task_planner_t::generate_path(), cajun::passing_lane_task_planner_t::get_path_map_to_lane_lids(), and print_path_map().

bool cajun::task_planner_t::m_planned_path [protected]

Referenced by init(), cajun::zone_task_planner_t::is_task_complete(), cajun::unparking_task_planner_t::is_task_complete(), cajun::parking_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::is_task_complete(), and update_local_path().

bool cajun::task_planner_t::m_reset_base_path [protected]

Referenced by cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), reset_base_path(), cajun::passing_lane_task_planner_t::set_active(), cajun::change_lane_task_planner_t::set_active(), cajun::zone_task_planner_t::set_plan(), cajun::uturn_task_planner_t::set_plan(), cajun::unparking_task_planner_t::set_plan(), cajun::parking_task_planner_t::set_plan(), cajun::lane_task_planner_t::set_plan(), and cajun::intersection_task_planner_t::set_plan().

rndf_t const* cajun::task_planner_t::m_rndf [protected]

Reimplemented in cajun::zone_task_planner_t.

Referenced by cajun::passing_lane_task_planner_t::blk_end_points(), cajun::passing_lane_task_planner_t::blockage_just_after(), cajun::passing_lane_task_planner_t::compute_end_passing_points(), cajun::unparking_task_planner_t::compute_unparking_path(), init(), cajun::intersection_task_planner_t::intersection_region_free(), cajun::intersection_task_planner_t::intersection_task_planner_t(), cajun::unparking_task_planner_t::set_paramters(), cajun::parking_task_planner_t::set_plan(), cajun::lane_task_planner_t::set_plan(), and cajun::intersection_task_planner_t::set_plan().

path_status_t cajun::task_planner_t::m_status [protected]

Referenced by cajun::zone_task_planner_t::generate_new_path(), cajun::zone_task_planner_t::generate_path(), cajun::uturn_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::passing_lane_task_planner_t::generate_path(), cajun::parking_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), cajun::intersection_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), cajun::zone_task_planner_t::get_from_local_path(), cajun::parking_task_planner_t::parking_task_planner_t(), path_status(), set_path_blocked(), cajun::zone_task_planner_t::straight_path(), cajun::unparking_task_planner_t::unparking_task_planner_t(), cajun::uturn_task_planner_t::uturn_task_planner_t(), and cajun::zone_task_planner_t::zone_task_planner_t().

path_turn_info_t cajun::task_planner_t::m_turn [protected]

Referenced by cajun::zone_task_planner_t::generate_path(), cajun::unparking_task_planner_t::generate_path(), cajun::passing_lane_task_planner_t::generate_path(), cajun::parking_task_planner_t::generate_path(), cajun::lane_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), get_path_turn_info(), cajun::uturn_task_planner_t::set_plan(), cajun::intersection_task_planner_t::set_plan(), and cajun::change_lane_task_planner_t::set_plan().

TP_type_t cajun::task_planner_t::m_type [protected]

Referenced by cajun::change_lane_task_planner_t::change_lane_task_planner_t(), cajun::intersection_task_planner_t::intersection_task_planner_t(), cajun::lane_task_planner_t::lane_task_planner_t(), cajun::parking_task_planner_t::parking_task_planner_t(), cajun::passing_lane_task_planner_t::passing_lane_task_planner_t(), type(), cajun::unparking_task_planner_t::unparking_task_planner_t(), cajun::uturn_task_planner_t::uturn_task_planner_t(), and cajun::zone_task_planner_t::zone_task_planner_t().

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

• task_planner.H
• task_planner.C