cajun::traffic_verifier_t Class Reference

#include <traffic_verifier.H>

Public Member Functions
	traffic_verifier_t (world_state_t ws_, rndf_t const rndf_)
bool	path_free_of_traffic (std::deque< task_planner_t * > &plan_, unsigned &stop_tp_ind_, unsigned &stop_path_ind_)
	Returns false if path needs to be handled due to some moving traffic.
Private Member Functions
bool	intersection_free_of_traffic (intersection_task_planner_t *int_tp_, unsigned &stop_path_ind_, double start_tstamp_)
	Returns true if intersection path is safe to drive and else return false and path index where to stop.
bool	change_lane_free_of_traffic (change_lane_task_planner_t *cl_tp, unsigned &stop_path_ind_, double start_tstamp_)
	Returns true if CL path is safe to drive and else return false and path index where to stop.
bool	uturn_free_of_traffic (uturn_task_planner_t *ut_tp_, double start_tstamp_)
	returns true if uturn's new lane is free of traffic for some distance
bool	passing_lane_free_of_traffic (passing_lane_task_planner_t *pl_tp, unsigned &stop_path_ind_, double start_tstamp_)
bool	approach_traffic (rndf_t::waypoint_id_t const &exit_wp_id_, rndf_t::waypoint_id_t const &entry_wp_id_, double till_time_)
	returns TRUE if there is traffic through any traffic points for the exit entry path, else return FALSE
bool	approaching_traffic_through_radar (rndf_t::waypoint_id_t const &ref_exit_id, rndf_t::waypoint_id_t const &entry_id, double till_time_)
bool	check_radar (std::vector< radar_info_t > const &radar_qid_, double till_time_)
bool	traffic_crossing (double x_, double y_, unsigned sid_, unsigned lid_, unsigned wid_, double till_time_)
	returns TRUE if there is any traffic reaching point xy before till_time_
void	traffic_approach_point (std::vector< blocked_lane_data_t > &traff_approaching, double x_, double y_, unsigned sid_, unsigned lid_, unsigned wid_)
	Returns true if there is a moving vehicle approaching this point on given lane segment for till_time_.
bool	tp_path_free_of_traffic (task_planner_t *tp_, unsigned tp_i, unsigned &stop_tp_ind_, unsigned &stop_path_ind_, double start_tstamp_)
int	radar_to_check (rndf_t::waypoint_id_t const &ref_exit_id, rndf_t::waypoint_id_t const &entry_id)
Private Attributes
world_state_t *	m_ws
rndf_t const *	m_rndf
const uc_planner_param_t *	m_uc_param

Constructor & Destructor Documentation

traffic_verifier_t::traffic_verifier_t	(	world_state_t *	ws_,
		rndf_t const *	rndf_
	)

References cajun::uc_planner_param_t::get_uc_planner_param(), cajun::uc_planner_param_t::m_left_radars, cajun::uc_planner_param_t::m_right_radars, m_uc_param, cajun::uc_planner_param_t::m_use_radar_data_for_intersection, m_ws, and msg_logger.

Member Function Documentation

bool traffic_verifier_t::approach_traffic	(	rndf_t::waypoint_id_t const &	exit_wp_id_,
		rndf_t::waypoint_id_t const &	entry_wp_id_,
		double	till_time_
	)			`[private]`

returns TRUE if there is traffic through any traffic points for the exit entry path, else return FALSE

References approaching_traffic_through_radar(), cajun::danger_entry_point(), m_rndf, m_uc_param, cajun::uc_planner_param_t::m_use_radar_data_for_intersection, cajun::uc_planner_param_t::m_verbose_printing, and traffic_crossing().

Referenced by intersection_free_of_traffic().

bool traffic_verifier_t::approaching_traffic_through_radar	(	rndf_t::waypoint_id_t const &	ref_exit_id,
		rndf_t::waypoint_id_t const &	entry_id,
		double	till_time_
	)			`[private]`

References check_radar(), cajun::uc_planner_param_t::m_left_radars, cajun::uc_planner_param_t::m_right_radars, m_rndf, m_uc_param, and cajun::uc_planner_param_t::m_verbose_printing.

Referenced by approach_traffic().

bool traffic_verifier_t::change_lane_free_of_traffic	(	change_lane_task_planner_t *	cl_tp,
		unsigned &	stop_path_ind_,
		double	start_tstamp_
	)			`[private]`

Returns true if CL path is safe to drive and else return false and path index where to stop.

References cajun::task_planner_t::get_path(), cajun::change_lane_task_planner_t::get_plan(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::uc_planner_param_t::m_CL_traffic_window, m_rndf, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, m_ws, and traffic_crossing().

Referenced by tp_path_free_of_traffic().

bool cajun::traffic_verifier_t::check_radar	(	std::vector< radar_info_t > const &	radar_qid_,
		double	till_time_
	)			`[private]`

Referenced by approaching_traffic_through_radar().

bool traffic_verifier_t::intersection_free_of_traffic	(	intersection_task_planner_t *	int_tp_,
		unsigned &	stop_path_ind_,
		double	start_tstamp_
	)			`[private]`

Returns true if intersection path is safe to drive and else return false and path index where to stop.

References approach_traffic(), cajun::task_planner_t::get_path(), cajun::intersection_task_planner_t::get_plan(), cajun::rndf_point_t::id(), cajun::task_planner_t::is_active(), cajun::rndf_point_t::is_rndf_wp(), cajun::uc_planner_param_t::m_crossing_traffic_window, m_uc_param, cajun::rndf_point_t::x(), and cajun::rndf_point_t::y().

Referenced by tp_path_free_of_traffic().

bool traffic_verifier_t::passing_lane_free_of_traffic	(	passing_lane_task_planner_t *	pl_tp,
		unsigned &	stop_path_ind_,
		double	start_tstamp_
	)			`[private]`

References cajun::passing_lane_task_planner_t::get_path_map_to_lane_lids(), cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::uc_planner_param_t::m_PL_traffic_window, m_rndf, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, m_ws, and traffic_crossing().

Referenced by tp_path_free_of_traffic().

bool traffic_verifier_t::path_free_of_traffic	(	std::deque< task_planner_t * > &	plan_,
		unsigned &	stop_tp_ind_,
		unsigned &	stop_path_ind_
	)

Returns false if path needs to be handled due to some moving traffic.

References cajun::INTERSECTION_TP, cajun::last_tp_planned(), cajun::uc_planner_param_t::m_num_tps_check_for_traffic, m_uc_param, cajun::PATH_END, cajun::PATH_TOO_LONG, and tp_path_free_of_traffic().

Referenced by cajun::planner_t::analyze_path().

int cajun::traffic_verifier_t::radar_to_check	(	rndf_t::waypoint_id_t const &	ref_exit_id,
		rndf_t::waypoint_id_t const &	entry_id
	)			`[private]`

bool traffic_verifier_t::tp_path_free_of_traffic	(	task_planner_t *	tp_,
		unsigned	tp_i,
		unsigned &	stop_tp_ind_,
		unsigned &	stop_path_ind_,
		double	start_tstamp_
	)			`[private]`

References change_lane_free_of_traffic(), cajun::CHANGE_LANE_TP, intersection_free_of_traffic(), cajun::INTERSECTION_TP, cajun::uc_planner_param_t::m_check_CL_traffic, cajun::uc_planner_param_t::m_check_intersection_crossing_traffic, cajun::uc_planner_param_t::m_check_PL_traffic, m_uc_param, passing_lane_free_of_traffic(), cajun::PASSING_LANE_TP, and cajun::task_planner_t::type().

Referenced by path_free_of_traffic().

void traffic_verifier_t::traffic_approach_point	(	std::vector< blocked_lane_data_t > &	traff_approaching,
		double	x_,
		double	y_,
		unsigned	sid_,
		unsigned	lid_,
		unsigned	wid_
	)			`[private]`