DARPA_rules.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * DARPA Urban Challenge rules description 00004 * 00005 * Copyright (C) 2009 Austin Robot Technology 00006 * License: Modified BSD Software License Agreement 00007 * 00008 * $Id: DARPA_rules.h 630 2010-09-25 16:20:42Z jack.oquin $ 00009 */ 00010 00011 #ifndef _DARPA_rules_H_ 00012 #define _DARPA_rules_H_ 00013 00026 #include <algorithm> 00027 #include <math.h> 00028 #include <art/conversions.h> 00029 00030 #include <art_msgs/ArtVehicle.h> 00031 00032 namespace DARPA_rules 00033 { 00034 // specific to our vehicle 00035 const float vehicle_length = art_msgs::ArtVehicle::length; 00036 const float vehicle_width = art_msgs::ArtVehicle::width; 00037 00038 // A.4. Stay in lane 00039 // Stay at least this far away from the road's center line. 00040 const float lane_center_offset = 1.0f; 00041 00042 // A.6. Excess delay 00043 const float excess_delay = 10.0f; 00044 00045 // A.8. Stop line 00046 const float stop_line_to_bumper = 1.0f; 00047 00048 // A.9. Vehicle separation 00049 const float stop_line_safety_area = 30.0f; 00050 const float min_forw_sep_safety = 2.0f; 00051 const float min_forw_sep_travel = vehicle_length; 00052 00053 const float min_standoff_dist = 1.0f; 00054 00055 static inline float forw_sep_travel(float speed) 00056 { 00057 float speed_mph = mps2mph(speed); 00058 return fmaxf((speed_mph/10.0f)*vehicle_length, min_forw_sep_travel); 00059 } 00060 00061 // A.10. Leaving lane to pass 00062 const float min_forw_sep_to_pass = vehicle_length; 00063 00064 // A.11. Returning to lane after pass 00065 const float min_rear_sep_after_pass = vehicle_length; 00066 const float front_limit_after_pass = vehicle_length * 4.0f; 00067 00068 // A.12. U-turn 00069 const float max_dist_from_entry_exit = 15.0f; 00070 00071 // D.4. Left turn 00072 const float max_left_turn_delay = 10.0f; 00073 00074 // D.5. Vehicle separation during left turn 00075 const float min_left_turn_sep = vehicle_length * 2.0f; 00076 }; 00077 00078 #endif