cajun::draw_rndf_t Class Reference

#include <draw_rndf.H>

Inheritance diagram for cajun::draw_rndf_t:

Classes
struct	crosswalk_t
class	intersection_vertex_t
class	lane_id_t
class	lane_marking_waypoint_t
class	point_t
struct	stripe_t
struct	texture_t
Public Member Functions
	draw_rndf_t (double cbviz_origin[3], conf_t &conf, world_state_t ws_, rndf_t const rndf_, char const *lane_markings_file_)
virtual	~draw_rndf_t ()
void	toggle_display ()
	Toggle displaying of the data.
void	update_data (double bot_pos_[3])
	Function called for idle loop.
void	display (double bot_pos_[3])
	Function called during display loop.
void	init_data ()
	Initialization of display lists, etc.
void	load_textures ()
void	dump_waypoint (rndf_t::waypoint_t const &w_)
void	dump_boundary (char const *name_, rndf_t::lane_t::boundary_t boundary_)
void	dump_stop_line (rndf_t::waypoint_t const &w_)
void	dump_arrow (rndf_t::waypoint_t const &w_, int &type_, double &dx_, double &dy_, double &rot_)
void	dump_sign (rndf_t::waypoint_t const &w_, int &type_, double &dx_, double &dy_, double &rot_, double scale_, double height_)
void	dump_lane (rndf_t::lane_t const &l_)
	Dump an rndf lane to display list.
void	dump_segment (rndf_t::segment_t const &s_)
void	dump_segment_filling (rndf_t::segment_t const &s_)
	Draws road color between lanes 1 and n in a segment.
void	dump_perimeter (rndf_t::zone_t const &z_)
void	dump_spot (rndf_t::spot_t const &s_)
void	dump_zone (rndf_t::zone_t const &z_)
void	dump_intersection (rndf_t::intersection_t const &it_)
Private Types
enum	{ TEX_STOP_SIGN, TEX_YIELD_SIGN, TEX_CURVED_ROAD_SIGN, TEX_BUS_STOP_SIGN, TEX_LAST_ITEM }
enum	{ LEFT_RECT_ARROW, LEFT_CURVED_ARROW, STRAIGHT_RECT_ARROW, RIGHT_RECT_ARROW, RIGHT_CURVED_ARROW, LEFT_BOUNDARY_OFF, RIGHT_BOUNDARY_OFF, LEFT_BOUNDARY_HIGH, RIGHT_BOUNDARY_HIGH, STOP_SIGN, LEFT_YIELD_SIGN, RIGHT_YIELD_SIGN, CURVED_ROAD_SIGN, BUS_STOP_SIGN, POLE, CROSSWALK }
Private Member Functions
void	draw_park_lines (rndf_t::waypoint_t const &w1_, rndf_t::waypoint_t const &w2_, double width_)
void	draw_crosswalk (crosswalk_t const &cw_, double stroke_width_, double stroke_separation_)
void	load_lane_markings (char const *lane_markings_file_)
bool	parse_lane_marking (char *read_str, lane_marking_waypoint_t &lm_)
void	draw_double_yellow_lines (rndf_t::lane_t const &l_)
	Draw double yellow lane markings between two opposite lanes by averaging their points.
void	draw_single_white_lines (rndf_t::lane_t const &l_, rndf_t::lane_t::side_t side_)
	Draw single white lane markings between two lanes by averaging their points.
void	draw_striped_white_lines (rndf_t::lane_t const &l_)
void	draw_straight_arrow (double lane_width, double thickness, int type)
void	draw_left_arrow (double lane_width, double thickness, int type)
void	draw_right_arrow (double lane_width_, double thickness_, int type_)
void	draw_stop_sign (double lane_width_, double scale_, double height_)
void	draw_yield_sign (double lane_width_, double scale_, double height_)
void	draw_curved_road_sign (double lane_width_, double scale_, double height_)
void	draw_bus_stop_sign (double lane_width_, double scale_, double height_)
void	draw_pole (double lane_width_, double scale_, double height_)
bool	is_arrow_type (int type_)
	Test if a lane marking is an arrow type.
bool	is_sign_type (int type_)
	Test if a lane marking is a sign.
bool	is_matching_lane_marking (rndf_t::lane_t const &l1_, rndf_t::lane_t const &l2_, rndf_t::lane_t::side_t side_wrt_l1_, bool same_dir_)
	Test if two (assumed) neighboring lanes have same lane markings.
bool	is_same_direction (rndf_t::lane_t const &l1_, rndf_t::lane_t const &l2_)
	Test if lanes are in same direction within same segment.
bool	is_on_left_side (rndf_t::lane_t const &l1_, rndf_t::lane_t const &l2_)
	See if l2 is on the left side of l1.
double	trans_x (double x)
double	trans_y (double y)
void	set_glColor (chart_color_t color_)
double	wp_dist (rndf_t::waypoint_t const &w1_, rndf_t::waypoint_t const &w2_)
double	pt_dist (point_t const &p1_, point_t const &p2_)
double	orientation (point_t const &p1_, point_t const &p2_)
Private Attributes
char	m_lane_marker [20]
rndf_t const *	m_rndf
std::vector< unsigned >	m_display_lists
unsigned	m_tmp_dl
unsigned	m_points_per_dl
unsigned	m_point_count
double	m_cbviz_origin [3]
	Offset used for drawing coordinates.
double	m_ground_ref_height
std::vector < lane_marking_waypoint_t >	m_lane_markings
std::vector< crosswalk_t >	m_crosswalks
std::vector< lane_id_t >	m_striped_lanes
std::vector< stripe_t >	m_stripe_pts
bool	m_display_checkpoint
bool	m_display_exit
bool	m_display_entry
bool	m_display_waypoint
bool	m_display_boundary
bool	m_display_stop
bool	m_display_stop_line
double	m_stop_line_thickness
double	m_dist_to_stop_line
bool	m_display_lane
bool	m_display_lane_number
bool	m_display_segment
bool	m_display_segment_filling
bool	m_display_intersection_filling
bool	m_display_perimeter
bool	m_display_spot
bool	m_display_zone
bool	m_display_arrow
double	m_dist_to_arrow
bool	m_display_sign
bool	m_use_old_lane_boundary_drawing
bool	m_fill_between_lanes
double	m_fill_dist_tolerance
bool	m_print_lm_load_info
double	m_sign_thickness
double	m_sign_step_val
double	m_waypoint_number_height
double	m_waypoint_height
double	m_waypoint_radius
double	m_entryexit_line_height
chart_color_t	m_checkpoint_color
chart_color_t	m_checkpoint_text_color
chart_color_t	m_stoppoint_color
chart_color_t	m_exitpoint_color
chart_color_t	m_entrypoint_color
chart_color_t	m_waypoint_color
chart_color_t	m_waypoint_text_color
std::string	m_textures_name [TEX_LAST_ITEM]
texture_t	m_textures_info [TEX_LAST_ITEM]
GLuint	m_textures [TEX_LAST_ITEM]

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

TEX_STOP_SIGN
TEX_YIELD_SIGN
TEX_CURVED_ROAD_SIGN
TEX_BUS_STOP_SIGN
TEX_LAST_ITEM

anonymous enum [private]

Enumerator:

LEFT_RECT_ARROW
LEFT_CURVED_ARROW
STRAIGHT_RECT_ARROW
RIGHT_RECT_ARROW
RIGHT_CURVED_ARROW
LEFT_BOUNDARY_OFF
RIGHT_BOUNDARY_OFF
LEFT_BOUNDARY_HIGH
RIGHT_BOUNDARY_HIGH
STOP_SIGN
LEFT_YIELD_SIGN
RIGHT_YIELD_SIGN
CURVED_ROAD_SIGN
BUS_STOP_SIGN
POLE
CROSSWALK

Constructor & Destructor Documentation

draw_rndf_t::draw_rndf_t	(	double	cbviz_origin[3],
		conf_t &	conf,
		world_state_t *	ws_,
		rndf_t const *	rndf_,
		char const *	lane_markings_file_
	)

References b, g, cajun::draw_rndf_t::texture_t::height, cajun::draw_rndf_t::texture_t::image_data, load_lane_markings(), m_cbviz_origin, m_checkpoint_color, m_checkpoint_text_color, cajun::component_interface_t::m_display, m_display_arrow, m_display_boundary, m_display_checkpoint, m_display_entry, m_display_exit, m_display_intersection_filling, m_display_lane, m_display_lane_number, m_display_perimeter, m_display_segment, m_display_segment_filling, m_display_sign, m_display_spot, m_display_stop, m_display_stop_line, m_display_waypoint, m_display_zone, m_dist_to_arrow, m_dist_to_stop_line, m_entryexit_line_height, m_entrypoint_color, m_exitpoint_color, m_fill_between_lanes, m_fill_dist_tolerance, m_ground_ref_height, m_points_per_dl, m_print_lm_load_info, m_rndf, m_sign_step_val, m_sign_thickness, m_stop_line_thickness, m_stoppoint_color, m_textures_info, m_textures_name, m_use_old_lane_boundary_drawing, m_waypoint_color, m_waypoint_height, m_waypoint_number_height, m_waypoint_radius, m_waypoint_text_color, POSX, POSY, POSZ, cajun::progname, r, cajun::read_ppm_texture(), cajun::chart_color_t::set(), TEX_BUS_STOP_SIGN, TEX_CURVED_ROAD_SIGN, TEX_LAST_ITEM, TEX_STOP_SIGN, TEX_YIELD_SIGN, and cajun::draw_rndf_t::texture_t::width.

draw_rndf_t::~draw_rndf_t ( ) [virtual]

Member Function Documentation

void draw_rndf_t::display ( double bot_bos_[3] ) [virtual]

Function called during display loop.

Implements cajun::component_interface_t.

References cajun::component_interface_t::m_display, m_display_lists, and m_tmp_dl.

void draw_rndf_t::draw_bus_stop_sign	(	double	lane_width_,
		double	scale_,
		double	height_
	)			`[private]`

References m_sign_step_val, m_sign_thickness, m_textures, and TEX_BUS_STOP_SIGN.

Referenced by dump_sign().

void draw_rndf_t::draw_crosswalk	(	crosswalk_t const &	cw_,
		double	stroke_width_,
		double	stroke_separation_
	)			`[private]`

References cajun::draw_rndf_t::lane_marking_waypoint_t::m_lane, cajun::draw_rndf_t::crosswalk_t::m_lm1, cajun::draw_rndf_t::crosswalk_t::m_lm2, m_rndf, cajun::draw_rndf_t::crosswalk_t::m_rotation, cajun::draw_rndf_t::lane_marking_waypoint_t::m_segment, cajun::draw_rndf_t::crosswalk_t::m_transl, cajun::draw_rndf_t::lane_marking_waypoint_t::m_waypoint, R2D, trans_x(), trans_y(), wp_dist(), cajun::draw_rndf_t::point_t::x, and cajun::draw_rndf_t::point_t::y.

Referenced by dump_lane().

void draw_rndf_t::draw_curved_road_sign	(	double	lane_width_,
		double	scale_,
		double	height_
	)			`[private]`

References m_sign_step_val, m_sign_thickness, m_textures, and TEX_CURVED_ROAD_SIGN.

Referenced by dump_sign().

void draw_rndf_t::draw_double_yellow_lines ( rndf_t::lane_t const & l_ ) [private]

Draw double yellow lane markings between two opposite lanes by averaging their points.

Parameters:

l_

Base lane used, plus next lane of l_.id()+1.

References is_matching_lane_marking(), is_same_direction(), m_rndf, trans_x(), trans_y(), wp_dist(), cajun::draw_rndf_t::point_t::x, and cajun::draw_rndf_t::point_t::y.

Referenced by dump_segment().

void draw_rndf_t::draw_left_arrow	(	double	lane_width,
		double	thickness,
		int	type
	)			`[private]`

Referenced by dump_arrow().

void draw_rndf_t::draw_park_lines	(	rndf_t::waypoint_t const &	w1_,
		rndf_t::waypoint_t const &	w2_,
		double	width_
	)			`[private]`

References m_waypoint_height, R2D, trans_x(), and trans_y().

Referenced by dump_spot().

void draw_rndf_t::draw_pole	(	double	lane_width_,
		double	scale_,
		double	height_
	)			`[private]`

References m_sign_step_val, and m_sign_thickness.

Referenced by dump_sign().

void draw_rndf_t::draw_right_arrow	(	double	lane_width_,
		double	thickness_,
		int	type_
	)			`[private]`

Referenced by dump_arrow().

void draw_rndf_t::draw_single_white_lines	(	rndf_t::lane_t const &	l_,
		rndf_t::lane_t::side_t	side_
	)			`[private]`

Draw single white lane markings between two lanes by averaging their points.

Parameters:

	l_	Base lane used.
	side_	Which side of road to draw on.

References is_same_direction(), m_rndf, trans_x(), trans_y(), wp_dist(), cajun::draw_rndf_t::point_t::x, and cajun::draw_rndf_t::point_t::y.

Referenced by dump_segment().

void draw_rndf_t::draw_stop_sign	(	double	lane_width_,
		double	scale_,
		double	height_
	)			`[private]`

References m_sign_step_val, m_sign_thickness, m_textures, and TEX_STOP_SIGN.

Referenced by dump_sign().

void draw_rndf_t::draw_straight_arrow	(	double	lane_width,
		double	thickness,
		int	type
	)			`[private]`

Referenced by dump_arrow().

void draw_rndf_t::draw_striped_white_lines ( rndf_t::lane_t const & l_ ) [private]

References is_on_left_side(), is_same_direction(), cajun::draw_rndf_t::lane_id_t::m_lane_id, m_rndf, cajun::draw_rndf_t::lane_id_t::m_seg_id, m_stripe_pts, m_striped_lanes, orientation(), cajun::draw_rndf_t::stripe_t::p1, cajun::draw_rndf_t::stripe_t::p2, pt_dist(), trans_x(), trans_y(), wp_dist(), cajun::draw_rndf_t::point_t::x, and cajun::draw_rndf_t::point_t::y.

Referenced by dump_segment().

void draw_rndf_t::draw_yield_sign	(	double	lane_width_,
		double	scale_,
		double	height_
	)			`[private]`

References cajun::chart_color_t::blue(), cajun::draw_circle(), cajun::chart_color_t::green(), m_sign_step_val, m_sign_thickness, m_textures, cajun::chart_color_t::red(), and TEX_YIELD_SIGN.

Referenced by dump_sign().

void draw_rndf_t::dump_arrow	(	rndf_t::waypoint_t const &	w_,
		int &	type_,
		double &	dx_,
		double &	dy_,
		double &	rot_
	)

References draw_left_arrow(), draw_right_arrow(), draw_straight_arrow(), LEFT_CURVED_ARROW, LEFT_RECT_ARROW, m_display_arrow, m_dist_to_arrow, m_rndf, R2D, RIGHT_CURVED_ARROW, RIGHT_RECT_ARROW, STRAIGHT_RECT_ARROW, trans_x(), and trans_y().

Referenced by init_data().

void draw_rndf_t::dump_boundary	(	char const *	name_,
		rndf_t::lane_t::boundary_t	boundary_
	)

References m_display_boundary.

void draw_rndf_t::dump_intersection ( rndf_t::intersection_t const & it_ )

References m_display_intersection_filling, m_rndf, cajun::draw_rndf_t::intersection_vertex_t::set(), trans_x(), and trans_y().

Referenced by init_data().

void draw_rndf_t::dump_lane ( rndf_t::lane_t const & l_ )

Dump an rndf lane to display list.

Parameters:

l_

Lane to draw.

References cajun::draw_circle(), draw_crosswalk(), cajun::draw_filled_rectangle(), cajun::draw_leg(), dump_stop_line(), dump_waypoint(), m_crosswalks, m_display_lane, m_display_lane_number, m_lane_marker, m_rndf, m_use_old_lane_boundary_drawing, m_waypoint_number_height, cajun::output_string_number(), trans_x(), and trans_y().

Referenced by dump_segment().

void draw_rndf_t::dump_perimeter ( rndf_t::zone_t const & z_ )

References dump_waypoint(), m_display_lane_number, m_display_perimeter, m_lane_marker, m_waypoint_number_height, cajun::output_string_number(), set_glColor(), trans_x(), and trans_y().

Referenced by dump_zone().

void draw_rndf_t::dump_segment ( rndf_t::segment_t const & s_ )

References draw_double_yellow_lines(), draw_single_white_lines(), draw_striped_white_lines(), dump_lane(), dump_segment_filling(), m_display_segment, m_fill_between_lanes, and m_use_old_lane_boundary_drawing.

Referenced by init_data().

void draw_rndf_t::dump_segment_filling ( rndf_t::segment_t const & s_ )

Draws road color between lanes 1 and n in a segment.

Parameters:

s_

Segment to fill.

References m_display_segment_filling, m_fill_dist_tolerance, trans_x(), trans_y(), and wp_dist().

Referenced by dump_segment().

void draw_rndf_t::dump_sign	(	rndf_t::waypoint_t const &	w_,
		int &	type_,
		double &	dx_,
		double &	dy_,
		double &	rot_,
		double	scale_,
		double	height_
	)

References BUS_STOP_SIGN, CURVED_ROAD_SIGN, draw_bus_stop_sign(), draw_curved_road_sign(), draw_pole(), draw_stop_sign(), draw_yield_sign(), LEFT_YIELD_SIGN, m_display_sign, m_rndf, POLE, R2D, RIGHT_YIELD_SIGN, STOP_SIGN, trans_x(), and trans_y().

Referenced by init_data().

void draw_rndf_t::dump_spot ( rndf_t::spot_t const & s_ )

References draw_park_lines(), dump_waypoint(), m_display_lane_number, m_display_spot, m_lane_marker, m_waypoint_number_height, cajun::output_string_number(), trans_x(), and trans_y().

Referenced by dump_zone().

void draw_rndf_t::dump_stop_line ( rndf_t::waypoint_t const & w_ )

References m_display_stop_line, m_dist_to_stop_line, m_rndf, m_stop_line_thickness, trans_x(), and trans_y().

Referenced by dump_lane().

void draw_rndf_t::dump_waypoint ( rndf_t::waypoint_t const & w_ )

void draw_rndf_t::dump_zone ( rndf_t::zone_t const & z_ )

References dump_perimeter(), dump_spot(), and m_display_zone.

Referenced by init_data().

void draw_rndf_t::init_data ( ) [virtual]

Initialization of display lists, etc.

Reimplemented from cajun::component_interface_t.

References dump_arrow(), dump_intersection(), dump_segment(), dump_sign(), dump_zone(), is_arrow_type(), is_sign_type(), load_textures(), m_display_lists, m_fill_between_lanes, m_ground_ref_height, m_lane_markings, m_point_count, m_points_per_dl, m_rndf, and m_tmp_dl.

bool draw_rndf_t::is_arrow_type ( int type_ ) [private]

Test if a lane marking is an arrow type.

Parameters:

type_

The lane marking type to check.

Returns:: True if type is an arrow type.

References LEFT_CURVED_ARROW, LEFT_RECT_ARROW, RIGHT_CURVED_ARROW, RIGHT_RECT_ARROW, and STRAIGHT_RECT_ARROW.

Referenced by init_data().

bool draw_rndf_t::is_matching_lane_marking	(	rndf_t::lane_t const &	l1_,
		rndf_t::lane_t const &	l2_,
		rndf_t::lane_t::side_t	side_wrt_l1_,
		bool	same_dir_
	)			`[private]`

Test if two (assumed) neighboring lanes have same lane markings.

Parameters:

	l1_	Base lane to compare.
	l2_	Lane to compare against l1_, greater in id.
	side_wrt_l1_	Side with respect to lane 1 to check against.
	same_dir_	Are the lanes going in the same direction.