cajun::zone_task_planner_t Class Reference

#include <zone_task_planner.H>

Inheritance diagram for cajun::zone_task_planner_t:

Public Member Functions
	zone_task_planner_t (world_state_t ws_, rndf_t const rndf_)
	~zone_task_planner_t ()
void	set_plan (rndf_point_t start_rp_, rndf_point_t end_rp_)
	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 &start_rp_, rndf_point_t &end_rp_)
void	modify_plan (rndf_point_t start_rp_, rndf_point_t end_rp_)
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.
void	print_plan ()
Protected Member Functions
path_status_t	straight_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_, double min_speed_, double max_speed_)
	Does straight line path planning to parking spot.
unsigned	find_point_on_path (base_interpolator_t::uniform_path_t &path_, double x_, double y_)
bool	is_path_good (path_t const &path_, unsigned zone_id_, unsigned &path_index_)
	Returns true if the path is free of obstacles.
void	update_start_point (path_t const &path_)
void	get_from_local_path (path_t const &base_path_, path_t &path_)
	returns appends to 'path_' the path to drive
bool	is_path_good ()
void	generate_new_path (world_state_t *ws_, path_t &path_, double &p_len_left_, const path_t &base_path_)
	Generates new path.
void	cut_down_path (path_t const &base_path_, path_t &path_)
	cuts the tail of the path_ so as to maintain drive to some distance away from parking spot
double	start_orient (path_t const &path_)
Protected Attributes
const uc_planner_param_t *	m_uc_param
world_state_t *	m_ws
rndf_t const *	m_rndf
rndf_point_t *	m_start_rp
rndf_point_t *	m_end_rp
unsigned	m_zone_id
bool	m_first_iteration
double	m_start_x
double	m_start_y
bool	m_give_straigth_path
bool	m_generate_path
zone_planner_t *	m_zone_planner
base_interpolator_t *	m_interp

Constructor & Destructor Documentation

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

References cajun::FORWARD, cajun::uc_planner_param_t::get_uc_planner_param(), m_generate_path, m_give_straigth_path, m_interp, cajun::task_planner_t::m_path_dir, cajun::task_planner_t::m_status, cajun::task_planner_t::m_type, m_uc_param, m_zone_planner, msg_logger, cajun::PATH_OKAY, and cajun::ZONE_TP.

zone_task_planner_t::~zone_task_planner_t ( )

References m_interp, and m_zone_planner.

Member Function Documentation

void zone_task_planner_t::cut_down_path	(	path_t const &	base_path_,
		path_t &	path_
	)			`[protected]`

cuts the tail of the path_ so as to maintain drive to some distance away from parking spot

References cajun::uc_planner_param_t::m_dis_from_parking_spot_for_PK_TP, m_end_rp, cajun::uc_planner_param_t::m_parking_path_width, m_rndf, m_uc_param, and cajun::point_on_path().

Referenced by generate_new_path().

unsigned zone_task_planner_t::find_point_on_path	(	base_interpolator_t::uniform_path_t &	path_,
		double	x_,
		double	y_
	)			`[protected]`

Referenced by straight_path().

void zone_task_planner_t::generate_new_path	(	world_state_t *	ws_,
		path_t &	path_,
		double &	p_len_left_,
		const path_t &	base_path_
	)			`[protected]`

Generates new path.

fixme set status

References cut_down_path(), cajun::zone_planner_t::generate_path(), cajun::rndf_point_t::is_spot(), m_end_rp, m_generate_path, m_give_straigth_path, cajun::task_planner_t::m_mdf, cajun::task_planner_t::m_status, m_uc_param, cajun::uc_planner_param_t::m_use_parking_task_planner, cajun::uc_planner_param_t::m_zone_max_speed, cajun::uc_planner_param_t::m_zone_min_speed, m_zone_planner, cajun::PATH_OKAY, cajun::set_speed_limit(), start_orient(), straight_path(), and cajun::task_planner_t::update_local_path().

Referenced by generate_path().

path_status_t zone_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(), cajun::path_turn_info_t::distance, generate_new_path(), get_from_local_path(), is_path_good(), cajun::rndf_point_t::is_spot(), cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_end_rp, m_generate_path, m_give_straigth_path, cajun::task_planner_t::m_path, cajun::task_planner_t::m_status, cajun::task_planner_t::m_turn, m_uc_param, cajun::uc_planner_param_t::m_use_parking_task_planner, m_zone_id, m_zone_planner, cajun::zone_planner_t::mark_obstacles(), cajun::PATH_END, and cajun::zone_planner_t::publish_grids().

void zone_task_planner_t::get_from_local_path	(	path_t const &	base_path_,
		path_t &	path_
	)			`[protected]`

returns appends to 'path_' the path to drive

References cajun::task_planner_t::m_path, cajun::task_planner_t::m_status, MAX_SEARCH, cajun::PATH_OVER, cajun::point_on_path(), and cajun::task_planner_t::update_local_path().

Referenced by generate_path().

bool cajun::zone_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 zone_task_planner_t::get_plan	(	rndf_point_t *&	start_rp_,
		rndf_point_t *&	end_rp_
	)

References m_end_rp, and m_start_rp.

bool cajun::zone_task_planner_t::is_path_good ( ) [protected]

Referenced by generate_path().

bool zone_task_planner_t::is_path_good	(	path_t const &	path_,
		unsigned	zone_id_,
		unsigned &	path_index_
	)			`[protected]`

Returns true if the path is free of obstacles.

References m_ws, cajun::point_on_path(), and cajun::STATIC.

bool zone_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_end_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 zone_task_planner_t::modify_plan	(	rndf_point_t *	start_rp_,
		rndf_point_t *	end_rp_
	)

References m_end_rp, m_generate_path, and m_start_rp.

void zone_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_end_rp, m_start_rp, message, and msg_logger.

void zone_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_end_rp, m_start_rp, message, and msg_logger.

void zone_task_planner_t::set_plan	(	rndf_point_t *	start_rp_,
		rndf_point_t *	end_rp_
	)

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::rndf_point_t::in_zone(), cajun::task_planner_t::m_active, cajun::task_planner_t::m_complete, m_end_rp, m_generate_path, m_give_straigth_path, cajun::task_planner_t::m_reset_base_path, m_rndf, m_start_rp, m_ws, m_zone_id, and m_zone_planner.

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

double zone_task_planner_t::start_orient ( path_t const & path_ ) [protected]

References cajun::task_planner_t::m_active, m_ws, and cajun::path_end_orient().

Referenced by generate_new_path().

path_status_t zone_task_planner_t::straight_path	(	world_state_t *	ws_,
		path_t &	path_,
		double &	p_len_left_,
		const path_t &	base_path_,
		double	min_speed_,
		double	max_speed_
	)			`[protected]`