Obstacle Class Reference

Navigator obstacle class. More...

#include <obstacle.h>

List of all members.

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?
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.
art_msgs::Observation	observation (art_msgs::Observation::_oid_type oid)
	return current observation state
bool	observer_clear (art_msgs::Observation::_oid_type oid)
	return true when observer reports clear to go
void	observers_message (const art_msgs::ObservationArrayConstPtr obs_msg)
	ObservationArray message callback.
	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
ros::Subscriber	obs_sub_
art_msgs::ObservationArray	obstate
nav_msgs::Odometry *	odom
art_msgs::Order *	order
PolyOps *	pops
int	verbose
bool	was_stopped

---

Detailed Description

Navigator obstacle class.

Todo:

Add ROS-style ObstacleGrid input.

Add ART-style Observers input.

Definition at line 24 of file obstacle.h.

---

Constructor & Destructor Documentation

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

Constructor.

Definition at line 22 of file obstacle.cc.

Obstacle::~Obstacle

(

)

[inline]

Destructor.

Definition at line 32 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 41 of file obstacle.h.

void Obstacle::blocked

(

void

)

[inline]

mark car blocked, (re)start timeout.

Definition at line 47 of file obstacle.h.

bool Obstacle::car_approaching

(

)

is there a car approaching from ahead in our lane?

Definition at line 68 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 108 of file obstacle.cc.

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

Definition at line 145 of file obstacle.cc.

bool Obstacle::initialized

(

void

)

[inline]

return true if class initialized

Definition at line 61 of file obstacle.h.

float Obstacle::maximum_range

(

void

)

[inline]

maximum scan range accessor.

Definition at line 68 of file obstacle.h.

art_msgs::Observation Obstacle::observation

(

art_msgs::Observation::_oid_type

oid

)

[inline]

return current observation state

Definition at line 71 of file obstacle.h.

bool Obstacle::observer_clear

(

art_msgs::Observation::_oid_type

oid

)

[inline]

return true when observer reports clear to go

Definition at line 77 of file obstacle.h.

void Obstacle::observers_message

(

const art_msgs::ObservationArrayConstPtr

obs_msg

)

ObservationArray message callback.

Parameters:

obs_msg

pointer to the observations message.

Definition at line 182 of file obstacle.cc.

bool Obstacle::passing_lane_clear

(

void

)

return true when observer reports passing lane clear

Definition at line 199 of file obstacle.cc.

void Obstacle::reset

(

void

)

reset obstacles.

Definition at line 208 of file obstacle.cc.

void Obstacle::unblocked

(

void

)

[inline]

mark car not blocked, cancel timeout.

Definition at line 96 of file obstacle.h.

void Obstacle::update_blockage_state

(

void

)

[inline]

update blockage timer state.

Definition at line 104 of file obstacle.h.

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Member Data Documentation

NavTimer* Obstacle::blockage_timer [private]

Definition at line 132 of file obstacle.h.

const Config* Obstacle::config_ [private]

Definition at line 146 of file obstacle.h.

Course* Obstacle::course [private]

Definition at line 141 of file obstacle.h.

nav_msgs::Odometry* Obstacle::estimate [private]

Definition at line 145 of file obstacle.h.

float Obstacle::max_range [private]

Definition at line 124 of file obstacle.h.

Navigator* Obstacle::nav [private]

Definition at line 137 of file obstacle.h.

art_msgs::NavigatorState* Obstacle::navdata [private]

Definition at line 143 of file obstacle.h.

ros::Subscriber Obstacle::obs_sub_ [private]

Definition at line 126 of file obstacle.h.

art_msgs::ObservationArray Obstacle::obstate [private]

Definition at line 129 of file obstacle.h.

nav_msgs::Odometry* Obstacle::odom [private]

Definition at line 144 of file obstacle.h.

art_msgs::Order* Obstacle::order [private]

Definition at line 142 of file obstacle.h.

PolyOps* Obstacle::pops [private]

Definition at line 140 of file obstacle.h.

int Obstacle::verbose [private]

Definition at line 136 of file obstacle.h.

bool Obstacle::was_stopped [private]

Definition at line 133 of file obstacle.h.

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

• obstacle.h
• obstacle.cc