cajun::uturn_task_planner_t Class Reference

#include <uturn_task_planner.H>

Inheritance diagram for cajun::uturn_task_planner_t:

Public Member Functions
	uturn_task_planner_t ()
void	set_plan (unsigned sid_, unsigned start_lid_, unsigned end_lid_)
	Set the plan for the task planner. The plan is represented as segment on which U-turn is made, and start and end lane's ids.
void	get_plan (unsigned &sid_, unsigned &start_lid_, unsigned &end_lid_)
void	set_active ()
	Set the this 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 to make a Uturn. 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, ie if entered end_lid along its orientation.
bool	is_path_tight ()
void	print_plan ()
Protected Member Functions
void	print_task_completion ()
path_status_t	add_3_point_turn (path_t &path_, double &p_len_left_, unsigned sid_, unsigned start_lid_, unsigned end_lid_, double min_speed_, double max_speed_)
void	limit_turn_speed_limits (path_t &path_, double min_speed_, double max_speed_)
	Limit's min/max speeds of all the points of the path by m_speed_limit_forword/ m_speed_limit_reverse based on if the path is forward/reverse respectively. And sets the speed of last m_pre_path_index points to zero speed.
void	set_speed_limits (path_t &path_, double min_speed_, double max_speed_)
void	turn_path (path_t &path_, double sx_, double sy_, double p_orient_, double del_angle, double t_rad, relative_side_t turn, double min_speed_, double max_speed_)
	Generates curved path starting from (sx, sy), along orientation (start_orient_), for del_orient with t_rad turning radius in 'turn' direction.
bool	record_conditions (world_state_t *ws_, path_t &path_)
	Returns false if failed to record start and end points and start orient.
bool	copy_path_after_point (double ref_x, double ref_y, path_t &des_path_, const path_t &src_path_)
Protected Attributes
const uc_planner_param_t *	m_uc_param
unsigned	m_sid
unsigned	m_start_lid
unsigned	m_end_lid
bool	m_active_generate
double	m_before_turn_x
double	m_before_turn_y
double	m_after_turn_x
double	m_after_turn_y
double	m_start_orient
unsigned	m_turn_phase
unsigned	m_last_turn_phase
unsigned	m_pre_path_copy
unsigned	m_pre_path_index
double	m_turn_radius [MAX_ACCESS_PHASE]
double	m_extend_path_length [MAX_ACCESS_PHASE]
double	m_turn_angle [MAX_ACCESS_PHASE]
double	m_speed_limit_reverse
double	m_speed_limit_forward
double	m_interp_dis
path_t	m_pre_path

Constructor & Destructor Documentation

uturn_task_planner_t::uturn_task_planner_t ( )

Member Function Documentation

path_status_t uturn_task_planner_t::add_3_point_turn	(	path_t &	path_,
		double &	p_len_left_,
		unsigned	sid_,
		unsigned	start_lid_,
		unsigned	end_lid_,
		double	min_speed_,
		double	max_speed_
	)			`[protected]`

References cajun::extend_path(), cajun::LEFT, limit_turn_speed_limits(), m_active_generate, m_after_turn_x, m_after_turn_y, m_before_turn_x, m_before_turn_y, m_extend_path_length, m_interp_dis, m_start_orient, m_turn_angle, m_turn_phase, m_turn_radius, cajun::PATH_OKAY, set_speed_limits(), and turn_path().

Referenced by generate_path().

bool uturn_task_planner_t::copy_path_after_point	(	double	ref_x,
		double	ref_y,
		path_t &	des_path_,
		const path_t &	src_path_
	)			`[protected]`

References m_pre_path_index.

Referenced by generate_path().

path_status_t uturn_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 to make a Uturn. 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 add_3_point_turn(), cajun::append_path(), copy_path_after_point(), cajun::FORWARD, cajun::task_planner_t::m_active, m_active_generate, m_before_turn_x, m_before_turn_y, cajun::task_planner_t::m_complete, m_end_lid, m_interp_dis, m_last_turn_phase, cajun::task_planner_t::m_mdf, cajun::task_planner_t::m_path, cajun::task_planner_t::m_path_dir, m_pre_path, m_pre_path_copy, m_pre_path_index, cajun::task_planner_t::m_reset_base_path, m_sid, m_start_lid, m_start_orient, cajun::task_planner_t::m_status, m_turn_phase, m_uc_param, cajun::uc_planner_param_t::m_uturn_forward_path_copy_dist, cajun::uc_planner_param_t::m_uturn_forward_path_pre_dist, cajun::uc_planner_param_t::m_uturn_reverse_path_copy_dist, cajun::uc_planner_param_t::m_uturn_reverse_path_pre_dist, cajun::PATH_END, cajun::PATH_ERROR, cajun::PATH_OKAY, cajun::PATH_OVER, print_task_completion(), record_conditions(), cajun::REVERSE, and cajun::task_planner_t::update_local_path().

bool uturn_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.

References m_end_lid, m_sid, and m_start_lid.

void uturn_task_planner_t::get_plan	(	unsigned &	sid_,
		unsigned &	start_lid_,
		unsigned &	end_lid_
	)

References m_end_lid, m_sid, and m_start_lid.

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

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

Reimplemented from cajun::task_planner_t.

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

Returns true if task is done, ie if entered end_lid along its orientation.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_complete, m_last_turn_phase, m_turn_phase, and print_task_completion().

void uturn_task_planner_t::limit_turn_speed_limits	(	path_t &	path_,
		double	min_speed_,
		double	max_speed_
	)			`[protected]`

Limit's min/max speeds of all the points of the path by m_speed_limit_forword/ m_speed_limit_reverse based on if the path is forward/reverse respectively. And sets the speed of last m_pre_path_index points to zero speed.

References cajun::FORWARD, cajun::task_planner_t::m_path_dir, m_pre_path_index, m_speed_limit_forward, and m_speed_limit_reverse.

Referenced by add_3_point_turn().

void uturn_task_planner_t::print_plan ( ) [virtual]

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

Implements cajun::task_planner_t.

References m_end_lid, m_sid, m_start_lid, message, and msg_logger.

void uturn_task_planner_t::print_task_completion ( ) [protected]

References m_end_lid, m_sid, m_start_lid, message, and msg_logger.

Referenced by generate_path(), and is_task_complete().

bool uturn_task_planner_t::record_conditions	(	world_state_t *	ws_,
		path_t &	path_
	)			`[protected]`

Returns false if failed to record start and end points and start orient.

References m_after_turn_x, m_after_turn_y, cajun::uc_planner_param_t::m_allowed_post_lane_dis, cajun::uc_planner_param_t::m_allowed_pre_lane_dis, m_before_turn_x, m_before_turn_y, m_end_lid, m_sid, m_start_orient, m_uc_param, cajun::uc_planner_param_t::m_width_multiplier, message, and msg_logger.

Referenced by generate_path().

void uturn_task_planner_t::set_active ( ) [virtual]

Set the this task planner (TP) as active TP.

Implements cajun::task_planner_t.

References cajun::task_planner_t::m_active, m_end_lid, m_sid, m_start_lid, message, and msg_logger.

void uturn_task_planner_t::set_plan	(	unsigned	sid_,
		unsigned	start_lid_,
		unsigned	end_lid_
	)

Set the plan for the task planner. The plan is represented as segment on which U-turn is made, and start and end lane's ids.

References cajun::path_turn_info_t::distance, cajun::LEFT_TURN, cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_end_lid, cajun::task_planner_t::m_reset_base_path, m_sid, m_start_lid, cajun::task_planner_t::m_turn, and cajun::path_turn_info_t::turn.

Referenced by cajun::task_plan_handler_t::add_uturn_tp(), and cajun::task_plan_handler_t::insert_UT_TP().

void uturn_task_planner_t::set_speed_limits	(	path_t &	path_,
		double	min_speed_,
		double	max_speed_
	)			`[protected]`

Referenced by add_3_point_turn().

void uturn_task_planner_t::turn_path	(	path_t &	path_,
		double	sx_,
		double	sy_,
		double	p_orient_,
		double	del_angle,
		double	t_rad,
		relative_side_t	turn,
		double	min_speed_,
		double	max_speed_
	)			`[protected]`