cajun::unparking_task_planner_t Class Reference

#include <unparking_task_planner.H>

Inheritance diagram for cajun::unparking_task_planner_t:

Public Member Functions
	unparking_task_planner_t ()
void	set_plan (rndf_point_t rp1_, rndf_point_t rp2_)
	Set the plan for the lane task planner. Teh plan is represented as end waypoint on the lane till which bot need to be driven.
void	get_plan (rndf_point_t &rp1_, rndf_point_t &rp2_)
void	modify_plan (rndf_point_t end_wp_id_, rndf_point_t rp2_)
void	set_active ()
	Set the Lane following task planner (TP) as active TP.
path_status_t	generate_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_)
	Returns tha path on lane to reach m_end_wp. Returns false if path is full so that no following task planners need to 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	is_task_complete (world_state_t *ws_, double x_, double y_, double heading_)
	Returns true if task is done, if end_wp is reached.
bool	is_path_tight ()
void	print_plan ()
Protected Member Functions
void	set_paramters (rndf_point_t rp1_, rndf_point_t rp2_)
void	compute_unparking_path (path_t const &base_path_, path_t &path_)
Protected Attributes
const uc_planner_param_t *	m_uc_param
rndf_point_t *	m_parking_rp
rndf_point_t *	m_post_parking_rp
double	m_unpark_orient
path_t	m_pk_path
bool	m_first_iteration

Constructor & Destructor Documentation

unparking_task_planner_t::unparking_task_planner_t ( )

References cajun::uc_planner_param_t::get_uc_planner_param(), m_first_iteration, cajun::task_planner_t::m_path_dir, cajun::task_planner_t::m_status, cajun::task_planner_t::m_type, m_uc_param, cajun::PATH_END, cajun::REVERSE, and cajun::UNPARKING_TP.

Member Function Documentation

void unparking_task_planner_t::compute_unparking_path	(	path_t const &	base_path_,
		path_t &	path_
	)			`[protected]`

References cajun::extend_path(), cajun::uc_planner_param_t::m_parking_interp_dist, cajun::uc_planner_param_t::m_parking_max_speed, cajun::uc_planner_param_t::m_parking_min_speed, m_parking_rp, m_post_parking_rp, cajun::task_planner_t::m_rndf, m_uc_param, cajun::uc_planner_param_t::m_unpark_extra_initial_straight_leg, m_unpark_orient, cajun::uc_planner_param_t::m_unparking_rad, cajun::rndf_point_t::x(), and cajun::rndf_point_t::y().

Referenced by generate_path().

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

Returns tha path on lane to reach m_end_wp. Returns false if path is full so that no following task planners need to be called else returns true.

Implements cajun::task_planner_t.

References cajun::append_path(), compute_unparking_path(), cajun::copy_path(), cajun::path_turn_info_t::distance, cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_first_iteration, cajun::uc_planner_param_t::m_parking_interp_dist, cajun::uc_planner_param_t::m_parking_path_width, cajun::task_planner_t::m_path, m_pk_path, cajun::task_planner_t::m_reset_base_path, cajun::task_planner_t::m_status, cajun::task_planner_t::m_turn, m_uc_param, and cajun::task_planner_t::update_local_path().

bool cajun::unparking_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.

void unparking_task_planner_t::get_plan	(	rndf_point_t *&	rp1_,
		rndf_point_t *&	rp2_
	)

References m_parking_rp, and m_post_parking_rp.

bool cajun::unparking_task_planner_t::is_path_tight ( ) [inline, virtual]

Reimplemented from cajun::task_planner_t.

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

Returns true if task is done, if end_wp is reached.

Implements cajun::task_planner_t.

References cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, cajun::task_planner_t::m_complete, m_parking_rp, cajun::task_planner_t::m_path, cajun::task_planner_t::m_planned_path, m_uc_param, message, msg_logger, and cajun::point_on_path().

void unparking_task_planner_t::modify_plan	(	rndf_point_t *	end_wp_id_,
		rndf_point_t *	rp2_
	)

References m_first_iteration, and set_paramters().

void unparking_task_planner_t::print_plan ( ) [virtual]

|brief Display the plan of the lane task planner, most used for debugging

Implements cajun::task_planner_t.

References m_parking_rp, message, and msg_logger.

void unparking_task_planner_t::set_active ( ) [virtual]

Set the Lane following task planner (TP) as active TP.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, m_parking_rp, message, and msg_logger.

void unparking_task_planner_t::set_paramters	(	rndf_point_t *	rp1_,
		rndf_point_t *	rp2_
	)			`[protected]`

References m_parking_rp, m_post_parking_rp, cajun::task_planner_t::m_rndf, and m_unpark_orient.

Referenced by modify_plan(), and set_plan().

void unparking_task_planner_t::set_plan	(	rndf_point_t *	rp1_,
		rndf_point_t *	rp2_
	)

Set the plan for the lane task planner. Teh plan is represented as end waypoint on the lane till which bot need to be driven.

References cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, cajun::task_planner_t::m_reset_base_path, and set_paramters().

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

Member Data Documentation

bool cajun::unparking_task_planner_t::m_first_iteration [protected]

Referenced by generate_path(), modify_plan(), and unparking_task_planner_t().

rndf_point_t* cajun::unparking_task_planner_t::m_parking_rp [protected]

Referenced by compute_unparking_path(), get_plan(), is_task_complete(), print_plan(), set_active(), and set_paramters().

path_t cajun::unparking_task_planner_t::m_pk_path [protected]

Referenced by generate_path().

rndf_point_t* cajun::unparking_task_planner_t::m_post_parking_rp [protected]

Referenced by compute_unparking_path(), get_plan(), and set_paramters().

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

Referenced by compute_unparking_path(), generate_path(), is_task_complete(), and unparking_task_planner_t().

double cajun::unparking_task_planner_t::m_unpark_orient [protected]

Referenced by compute_unparking_path(), and set_paramters().

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

cajun::unparking_task_planner_t Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation