planner_defs.H

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// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Pablo Mejia

// Provides the data type definations used by planner

#ifndef CAJUN_PLANNER_DEFS_H
#define CAJUN_PLANNER_DEFS_H

#include "data_type.H"
#include "rndf.H"
#include "rndf_point.H"

#include <deque>

namespace cajun
{
        typedef std::deque <path_wp_t> path_t;
        typedef std::deque<rndf_t::waypoint_id_t> plan_t;
        enum path_status_t
        {
                PATH_ERROR = 0, //Error in finding path
                PATH_OKAY = 1, // Path is good
                PATH_OVER = 2, //used by sub TP to indicate task done
                PATH_END = 3,
                PATH_BLOCKED = 4, // Path blocked.
                PATH_TOO_LONG = 5, // Path too long
        };

        enum path_direction_t
        {
                FORWARD,
                REVERSE,
                NO_DIRECTION,
        };

        enum mobility_t
        {
                STATIC,
                DYNAMIC,
                ALL_MOBILITIES
        };

        enum TP_type_t
        {
                LANE_TP,
                INTERSECTION_TP,
                CHANGE_LANE_TP,
                PASSING_LANE_TP,
                UTURN_TP,
                ZONE_TP,
                PARKING_TP,
                UNPARKING_TP
        };

        enum path_turn_type_t
        {
                NO_TURN,
                LEFT_TURN,
                RIGHT_TURN,
        };
        struct path_turn_info_t
        {
                path_turn_info_t () { turn = NO_TURN; };
                double distance;
                path_turn_type_t turn;
        };

        struct tp_package_t
        {
                TP_type_t tp_type;
                rndf_point_t *rp_1;
                rndf_point_t *rp_2;
        };

        enum relative_side_t
        {
                LEFT,
                RIGHT,
        };

        struct radar_info_t
        {
                unsigned qid; //qid in which to expect the data
                double min_speed; // min speed of approaching object through this queue
        };
};
#endif

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