#include "mdf.H"#include "rndf.H"#include "planner.H"#include "conf.H"#include "cb_time.H"#include "cbmesg_logger.H"#include "proj_util.H"#include "access_dq.H"#include "world_state.H"#include "linear_interpolator.H"#include "rndf_lane_util.H"#include "track_annotation.H"#include <csignal>#include <string>#include "rndf_util.H"#include "path_nudger.H"Functions | |
| void | publish_mission_status (world_state_t *ws_, planner_t *planner_, mission_status_data_t &ms_) |
| Publishes mission status. | |
| void | print_usage () |
| Prints the program usage. | |
| void | initialize_world (world_state_t **world_state_, rndf_t const *rndf_) |
| initializes world_state, i.e, enable reading data sources and enabling writing of data | |
| void | shutdown_control_commands (world_state_t *ws_) |
| Publishes the final shutdown control line commands. | |
| void | create_init_prev_path (world_state_t *ws_, path_data_t &path_) |
| Creates prev_path for base path for the first iteration where there is not previously generated path to extract base path. | |
| void | set_pause_path (path_data_t &steering_path, path_data_t const &prev_path) |
| Sets the pause-path, which involves setting speed limits of all the points in the path to '0' zero. | |
| void | startup_control_commands (world_state_t *ws_) |
| Publishes the startup control line commands. | |
| bool | should_pause (world_state_t *ws_) |
| Returns true if need to set pause-path. Determines this from looking through the signal_line data. | |
| int | main (int argc_, char **argv_) |
Variables | |
| bool | die |
| char const * | progname |
| cbmesg_logger_t | msg_logger |
| char | message [MAXCBMSGSIZE] |
| uc_planner_param_t const * | uc_param |
| track_annotation_t | track_annotation |
| path_nudger_t * | path_nudger |
| void create_init_prev_path | ( | world_state_t * | ws_, | |
| path_data_t & | path_ | |||
| ) |
Creates prev_path for base path for the first iteration where there is not previously generated path to extract base path.
Referenced by main().
| void initialize_world | ( | world_state_t ** | world_state_, | |
| rndf_t const * | rndf_ | |||
| ) |
initializes world_state, i.e, enable reading data sources and enabling writing of data
Referenced by main().
| int main | ( | int | argc_, | |
| char ** | argv_ | |||
| ) |
References create_init_prev_path(), die, cajun::planner_t::get_steering_path(), cajun::planner_t::init(), initialize_world(), cajun::planner_t::is_finished(), cajun::track_annotation_t::load_annotation(), cajun::uc_planner_param_t::m_nudge_path, msg_logger, print_usage(), progname, publish_mission_status(), set_pause_path(), should_pause(), shutdown_control_commands(), and startup_control_commands().
| void publish_mission_status | ( | world_state_t * | ws_, | |
| planner_t * | planner_, | |||
| mission_status_data_t & | ms_ | |||
| ) |
Publishes mission status.
References cajun::planner_t::get_mission_status(), and cajun::planner_t::get_pres_lid().
Referenced by main().
| void set_pause_path | ( | path_data_t & | steering_path, | |
| path_data_t const & | prev_path | |||
| ) |
Sets the pause-path, which involves setting speed limits of all the points in the path to '0' zero.
Referenced by main().
| bool should_pause | ( | world_state_t * | ws_ | ) |
Returns true if need to set pause-path. Determines this from looking through the signal_line data.
Referenced by main().
| void shutdown_control_commands | ( | world_state_t * | ws_ | ) |
Publishes the final shutdown control line commands.
Referenced by main().
| void startup_control_commands | ( | world_state_t * | ws_ | ) |
Publishes the startup control line commands.
Referenced by main().
| char message[MAXCBMSGSIZE] |
Referenced by cajun::intersection_task_planner_t::add_intersection_path(), cajun::add_path_to_switch_lane(), cajun::add_rndf_lane_to_path(), cajun::mission_handler_t::alert_incomplete_path(), cajun::lane_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), cajun::zone_task_planner_t::is_task_complete(), cajun::unparking_task_planner_t::is_task_complete(), cajun::passing_lane_task_planner_t::is_task_complete(), cajun::parking_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::is_task_complete(), cajun::intersection_task_planner_t::is_task_complete(), cajun::change_lane_task_planner_t::is_task_complete(), cajun::task_plan_handler_t::plan_task_planner(), cajun::mission_handler_t::print_mission(), cajun::zone_task_planner_t::print_plan(), cajun::uturn_task_planner_t::print_plan(), cajun::unparking_task_planner_t::print_plan(), cajun::planner_t::print_plan(), cajun::passing_lane_task_planner_t::print_plan(), cajun::parking_task_planner_t::print_plan(), cajun::lane_task_planner_t::print_plan(), cajun::intersection_task_planner_t::print_plan(), cajun::change_lane_task_planner_t::print_plan(), cajun::uturn_task_planner_t::print_task_completion(), cajun::uturn_task_planner_t::record_conditions(), cajun::zone_task_planner_t::set_active(), cajun::uturn_task_planner_t::set_active(), cajun::unparking_task_planner_t::set_active(), cajun::passing_lane_task_planner_t::set_active(), cajun::parking_task_planner_t::set_active(), cajun::lane_task_planner_t::set_active(), cajun::intersection_task_planner_t::set_active(), cajun::change_lane_task_planner_t::set_active(), cajun::mission_planner_t::update_plan(), cajun::state_machine_t::update_state(), cajun::planner_t::update_task_planner_status(), cajun::mission_handler_t::update_waypoints_reached(), and cajun::wave_gc_oracle_t::wave_gc_oracle_t().
| cbmesg_logger_t msg_logger |
Referenced by cajun::intersection_task_planner_t::add_intersection_path(), cajun::add_path_to_switch_lane(), cajun::add_rndf_lane_to_path(), cajun::mission_handler_t::alert_incomplete_path(), cajun::change_lane_task_planner_t::change_lane_task_planner_t(), cajun::lane_task_planner_t::generate_path(), cajun::change_lane_task_planner_t::generate_path(), cajun::zone_task_planner_t::is_task_complete(), cajun::unparking_task_planner_t::is_task_complete(), cajun::passing_lane_task_planner_t::is_task_complete(), cajun::parking_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::is_task_complete(), cajun::intersection_task_planner_t::is_task_complete(), cajun::change_lane_task_planner_t::is_task_complete(), cajun::lane_task_planner_t::lane_task_planner_t(), main(), cajun::mission_planner_t::mission_planner_t(), cajun::parking_task_planner_t::parking_task_planner_t(), cajun::passing_lane_task_planner_t::passing_lane_task_planner_t(), cajun::path_verifier_t::path_verifier_t(), cajun::task_plan_handler_t::plan_task_planner(), cajun::planner_t::planner_t(), cajun::mission_handler_t::print_mission(), cajun::zone_task_planner_t::print_plan(), cajun::uturn_task_planner_t::print_plan(), cajun::unparking_task_planner_t::print_plan(), cajun::planner_t::print_plan(), cajun::passing_lane_task_planner_t::print_plan(), cajun::parking_task_planner_t::print_plan(), cajun::lane_task_planner_t::print_plan(), cajun::intersection_task_planner_t::print_plan(), cajun::change_lane_task_planner_t::print_plan(), cajun::uturn_task_planner_t::print_task_completion(), cajun::uturn_task_planner_t::record_conditions(), cajun::zone_task_planner_t::set_active(), cajun::uturn_task_planner_t::set_active(), cajun::unparking_task_planner_t::set_active(), cajun::passing_lane_task_planner_t::set_active(), cajun::parking_task_planner_t::set_active(), cajun::lane_task_planner_t::set_active(), cajun::intersection_task_planner_t::set_active(), cajun::change_lane_task_planner_t::set_active(), cajun::traffic_verifier_t::traffic_verifier_t(), cajun::mission_planner_t::update_plan(), cajun::planner_t::update_planner_state(), cajun::state_machine_t::update_state(), cajun::planner_t::update_task_planner_status(), cajun::mission_handler_t::update_waypoints_reached(), cajun::uturn_task_planner_t::uturn_task_planner_t(), cajun::wave_gc_oracle_t::wave_gc_oracle_t(), and cajun::zone_task_planner_t::zone_task_planner_t().
Referenced by cajun::planner_t::get_steering_path().
| char const* progname |
Referenced by main(), and print_usage().
| uc_planner_param_t const* uc_param |
Referenced by cajun::obstacle_marker_t::init().
1.6.1