Uturn Class Reference

#include <uturn.h>

Inheritance diagram for Uturn:

[legend]

List of all members.

Public Member Functions
void	configure ()
result_t	control (pilot_command_t &pcmd)
void	reset (void)
	Uturn (Navigator *navptr, int _verbose)
	~Uturn ()
Private Types
enum	state_t { Backward, Forward, Wait }
Private Member Functions
float	calculate_arc_length (bool forward, const MapXY &center, float safety_radius, const MapXY &p1, const MapXY &p2)
bool	circle_and_line_intersect (MapXY center, float radius, MapXY p1, MapXY p2, MapXY &meet_point)
float	estimate_uturn_distance (bool forward, float desired_arc_length)
Controller::result_t	initialize (void)
bool	outside_lanes_front (void)
bool	outside_lanes_rear (void)
bool	point_outside_lanes (MapXY point)
void	reset_me (void)
void	set_state (state_t newstate)
MapXY	wheel_location (float x, float y)
Private Attributes
bool	do_init
float	goal_heading
state_t	state
Stop *	stop
poly	uturn_entry
poly	uturn_exit
poly_list_t	uturn_polys

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Detailed Description

Definition at line 17 of file uturn.h.

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Member Enumeration Documentation

enum Uturn::state_t [private]

Enumerator:

Backward
Forward
Wait

Definition at line 30 of file uturn.h.

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Constructor & Destructor Documentation

Uturn::Uturn	(	Navigator *	navptr,
		int	_verbose
	)

Definition at line 48 of file uturn.cc.

Uturn::~Uturn

(

)

Definition at line 60 of file uturn.cc.

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Member Function Documentation

float Uturn::calculate_arc_length	(	bool	forward,
		const MapXY &	center,
		float	safety_radius,
		const MapXY &	p1,
		const MapXY &	p2
	)			[private]

Definition at line 442 of file uturn.cc.

bool Uturn::circle_and_line_intersect	(	MapXY	center,
		float	radius,
		MapXY	p1,
		MapXY	p2,
		MapXY &	meet_point
	)			[private]

Definition at line 120 of file uturn.cc.

void Uturn::configure

(

)

Controller::result_t Uturn::control

(

pilot_command_t &

pcmd

)

[virtual]

Reimplemented from Controller.

Definition at line 279 of file uturn.cc.

float Uturn::estimate_uturn_distance	(	bool	forward,
		float	desired_arc_length
	)			[private]

Definition at line 500 of file uturn.cc.

Controller::result_t Uturn::initialize

(

void

)

[private]

Definition at line 619 of file uturn.cc.

bool Uturn::outside_lanes_front

(

void

)

[private]

Definition at line 687 of file uturn.cc.

bool Uturn::outside_lanes_rear

(

void

)

[private]

Definition at line 709 of file uturn.cc.

bool Uturn::point_outside_lanes

(

MapXY

point

)

[private]

Definition at line 731 of file uturn.cc.

void Uturn::reset

(

void

)

[virtual]

Reimplemented from Controller.

Definition at line 754 of file uturn.cc.

void Uturn::reset_me

(

void

)

[private, virtual]

Reimplemented from Controller.

Definition at line 763 of file uturn.cc.

void Uturn::set_state

(

state_t

newstate

)

[private]

Definition at line 772 of file uturn.cc.

MapXY Uturn::wheel_location	(	float	x,
		float	y
	)			[private]

Definition at line 784 of file uturn.cc.

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Member Data Documentation

bool Uturn::do_init [private]

Definition at line 38 of file uturn.h.

float Uturn::goal_heading [private]

Definition at line 45 of file uturn.h.

state_t Uturn::state [private]

Definition at line 37 of file uturn.h.

Stop* Uturn::stop [private]

Definition at line 42 of file uturn.h.

poly Uturn::uturn_entry [private]

Definition at line 47 of file uturn.h.

poly Uturn::uturn_exit [private]

Definition at line 46 of file uturn.h.

poly_list_t Uturn::uturn_polys [private]

Definition at line 48 of file uturn.h.

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The documentation for this class was generated from the following files:

• uturn.h
• uturn.cc