Obstacle Class Reference

#include <obstacle.h>

Public Member Functions
bool	blockage_timeout (void)
	update blockage_timer (do once per run cycle)
void	blocked (void)
	mark car blocked, (re)start timeout.
bool	car_approaching ()
	is there a car approaching from ahead in our lane?
float	closest_ahead_in_plan (void)
	return distance to closest obstacle ahead in course plan
void	closest_in_lane (const poly_list_t &lane, float &ahead, float &behind)
bool	initialized (void)
	return true if class initialized
float	maximum_range (void)
	maximum scan range accessor.
Observation	observation (Observation::_oid_type oid)
	return current observation state
bool	observer_clear (Observation::_oid_type oid)
	return true when observer reports clear to go
void	observers_message (Observers *obs_msg)
	handle observers driver message
	Obstacle (Navigator *_nav, int _verbose)
	Constructor.
bool	passing_lane_clear (void)
	return true when observer reports passing lane clear
void	reset (void)
	reset obstacles.
void	unblocked (void)
	mark car not blocked, cancel timeout.
void	update_blockage_state (void)
	update blockage timer state.
	~Obstacle ()
	Destructor.
Private Member Functions
bool	in_lane (MapXY location, const poly_list_t &lane, int start_index)
Private Attributes
NavTimer *	blockage_timer
const Config *	config_
Course *	course
nav_msgs::Odometry *	estimate
float	max_range
Navigator *	nav
art_msgs::NavigatorState *	navdata
Observers	obstate
nav_msgs::Odometry *	odom
art_msgs::Order *	order
PolyOps *	pops
Observers	prev_obstate
int	verbose
bool	was_stopped

Detailed Description

Navigator obstacle class.

Todo:

Add ROS-style ObstacleGrid input.

Add ART-style Observers input.

Definition at line 29 of file obstacle.h.

Constructor & Destructor Documentation

Obstacle::Obstacle	(	Navigator *	_nav,
		int	_verbose
	)

Constructor.

Definition at line 19 of file obstacle.cc.

Obstacle::~Obstacle ( ) [inline]

Destructor.

Definition at line 37 of file obstacle.h.

Member Function Documentation

bool Obstacle::blockage_timeout ( void ) [inline]

update blockage_timer (do once per run cycle)

Returns:: true if timeout reached

Definition at line 46 of file obstacle.h.

void Obstacle::blocked ( void ) [inline]

mark car blocked, (re)start timeout.

Definition at line 52 of file obstacle.h.

bool Obstacle::car_approaching ( )

is there a car approaching from ahead in our lane?

Definition at line 57 of file obstacle.cc.

float Obstacle::closest_ahead_in_plan ( void )

return distance to closest obstacle ahead in course plan

Definition at line 87 of file obstacle.cc.

void Obstacle::closest_in_lane	(	const poly_list_t &	lane,
		float &	ahead,
		float &	behind
	)

Return distances of closest obstacles ahead and behind in a lane.

Definition at line 146 of file obstacle.cc.

bool Obstacle::in_lane	(	MapXY	location,
		const poly_list_t &	lane,
		int	start_index
	)			`[private]`

Definition at line 183 of file obstacle.cc.

bool Obstacle::initialized ( void ) [inline]

return true if class initialized

Definition at line 69 of file obstacle.h.

float Obstacle::maximum_range ( void ) [inline]

maximum scan range accessor.

Definition at line 76 of file obstacle.h.

Observation Obstacle::observation ( Observation::_oid_type oid ) [inline]

return current observation state

Definition at line 79 of file obstacle.h.

bool Obstacle::observer_clear ( Observation::_oid_type oid ) [inline]

return true when observer reports clear to go

Definition at line 85 of file obstacle.h.

void Obstacle::observers_message ( Observers * obs_msg )

handle observers driver message

Called from the driver ProcessMessage() handler when new observers data arrive.

Parameters:

	hdr	the player message header pointer
	obs_msg	pointer to the observer state message struct in the player message queue. Must copy the data before returning.

Definition at line 220 of file obstacle.cc.

bool Obstacle::passing_lane_clear ( void )

return true when observer reports passing lane clear

Definition at line 259 of file obstacle.cc.

void Obstacle::reset ( void )

reset obstacles.

Definition at line 268 of file obstacle.cc.

void Obstacle::unblocked ( void ) [inline]

mark car not blocked, cancel timeout.

Definition at line 113 of file obstacle.h.

void Obstacle::update_blockage_state ( void ) [inline]

update blockage timer state.