Navigator course planning class. More...
#include <course.h>
Public Types | |
| enum | direction_t { Right = -1, Straight = 0, Left = 1 } |
Public Member Functions | |
| void | begin_run_cycle (void) |
| Course class initialization for run state cycle. | |
| mapxy_list_t | calculate_spot_points (const std::vector< WayPointNode > &new_waypts) |
| mapxy_list_t | calculate_spot_points () |
| mapxy_list_t | calculate_zone_barrier_points () |
| void | configure () |
| set configuration variables. | |
| Course (Navigator *_nav, int _verbose) | |
| Constructor. | |
| bool | curr_spot () |
| void | desired_heading (pilot_command_t &pcmd, float offset_ratio=0.0) |
| set heading for desired course | |
| float | distance_in_plan (const MapPose &from, const WayPointNode &wp) const |
| float | distance_in_plan (const MapPose &from, const MapPose &to) const |
| float | distance_in_plan (const MapPose &from, const MapXY &to) const |
| void | end_run_cycle (void) |
| Course class termination for run state cycle. | |
| int | find_aim_polygon (poly_list_t &lane) |
| bool | find_passing_lane (void) |
| Find a passing lane through the polygons. | |
| void | find_travel_lane (bool rejoin) |
| Find a path in the travel lane to the next few way-points. | |
| float | get_yaw_spring_system (const Polar &aim_polar, int poly_id, float poly_heading, float max_yaw, float curr_velocity, float offset_ratio=0.0) |
| bool | in_lane (const MapPose &pose) const |
| return true if pose is in the current travel lane | |
| bool | in_poly_list (const poly_list_t &polys, const MapPose &pose) const |
| return true if pose is in the polys list | |
| direction_t | intersection_direction (void) |
| return intersection crossing direction | |
| direction_t | lane_change_direction (void) |
| return lane change direction | |
| bool | lane_waypoint_reached (void) |
| return true if lane way-point reached | |
| void | lanes_message (const art_msgs::ArtLanes &lanes) |
| handle lanes message | |
| void | log (const char *str, const poly_list_t &polys) |
| log a vector of polygons | |
| float | max_speed_for_change_in_heading (const float &dheading, const float &distance, const float &max, const float &max_yaw_rate) |
| float | max_speed_for_slow_down (const float &final_speed, const float &distance, const float &max, const float &max_deceleration) |
| void | new_waypoint_reached (ElementID new_way) |
| confirm that the next way-point was reached | |
| bool | new_waypts (void) |
| return true if current order does not match saved way-points | |
| void | no_waypoint_reached (void) |
| confirm that no way-point was reached | |
| bool | nqe_special (int i, int j) |
| bool | plan_valid (void) |
| return whether the current plan is still valid | |
| ElementID | replan_roadblock (void) |
| replan after road block | |
| void | reset (void) |
| reset course | |
| bool | same_lane (ElementID id1, ElementID id2) |
| are id1 and id2 in the same lane? | |
| void | signal_for_direction (direction_t direction) |
| set turn signal based on direction | |
| void | signal_pass (void) |
| set turn signal for passing | |
| void | signal_pass_return (void) |
| set turn signal for return from passing | |
| bool | special_waypt (unsigned windex) |
| special way-point predicate | |
| bool | spot_ahead () |
| bool | spot_waypoint_reached (void) |
| float | stop_waypt_distance (bool same_lane) |
| return distance to stop way-point, Infinite::distance if none | |
| bool | switch_to_passing_lane () |
| switch to previously selected passing lane | |
| void | turn_signal_on (bool direction) |
| void | turn_signals_both_on (void) |
| set both turn signals on | |
| void | turn_signals_off (void) |
| set both turn signals off | |
| float | uturn_distance (void) |
| return distance to U-turn way-point, Infinite::distance if none. | |
| int | uturn_order_index (void) |
| return index of U-turn exit in order->waypt array | |
| bool | uturn_waypt (unsigned windex) |
| return true if waypt[windex] and waypt[windex+1] are a U-turn pair | |
| bool | zone_perimeter_reached (void) |
| bool | zone_waypoint_reached (void) |
| return true if zone way-point reached | |
| ~Course () | |
| Destructor. | |
Public Attributes | |
| poly | aim_poly |
| poly_list_t | passed_lane |
| bool | passing_left |
| poly_list_t | plan |
| poly_list_t | polygons |
| MapPose | start_pass_location |
| poly | stop_poly |
| WayPointNode | stop_waypt |
| ZonePerimeterList | zones |
Private Member Functions | |
| Polar | head_for_waypt (float target_dist) |
| head directly for next reachable way-point | |
| void | set_plan_waypts (void) |
| set new plan way-points | |
Private Attributes | |
| ElementID | adj_lane [2] |
| poly_list_t | adj_polys [2] |
| const Config * | config_ |
| nav_msgs::Odometry * | estimate |
| double | heading_change_ratio |
| double | k_error |
| double | k_int |
| double | k_theta |
| double | lane_change_secs |
| double | last_error |
| double | max_speed_for_sharp |
| double | max_yaw_rate |
| double | min_lane_steer_dist |
| Navigator * | nav |
| art_msgs::NavigatorState * | navdata |
| bool | new_plan_lanes |
| nav_msgs::Odometry * | odom |
| art_msgs::Order * | order |
| int | passing_lane |
| ElementID | plan_waypt [art_msgs::Order::N_WAYPTS] |
| int | poly_index |
| PolyOps * | pops |
| int | saved_replan_num |
| ElementID | saved_waypt_id [art_msgs::Order::N_WAYPTS] |
| double | spot_waypoint_radius |
| double | spring_lookahead |
| double | turning_latency |
| int | verbose |
| bool | waypoint_checked |
| double | zone_waypoint_radius |
| enum Course::direction_t |
| Course::Course | ( | Navigator * | _nav, |
| int | _verbose | ||
| ) |
| Course::~Course | ( | ) | [inline] |
| void Course::begin_run_cycle | ( | void | ) |
| mapxy_list_t Course::calculate_spot_points | ( | const std::vector< WayPointNode > & | new_waypts | ) |
| void Course::configure | ( | ) |
| void Course::desired_heading | ( | pilot_command_t & | pcmd, |
| float | offset_ratio = 0.0 |
||
| ) |
set heading for desired course
Set heading for desired course.
| pcmd[in,out] | pilot command to be published |
| offset_ratio | 1.0 pushes the left side of the car to the left lane boundary, 0.0 to the center, -1.0 to the right. Larger offsets push the car outside the lane. |
| float Course::distance_in_plan | ( | const MapPose & | from, |
| const WayPointNode & | wp | ||
| ) | const |
| float Course::distance_in_plan | ( | const MapPose & | from, |
| const MapPose & | to | ||
| ) | const |
| float Course::distance_in_plan | ( | const MapPose & | from, |
| const MapXY & | to | ||
| ) | const |
| void Course::end_run_cycle | ( | void | ) |
| int Course::find_aim_polygon | ( | poly_list_t & | lane | ) |
| bool Course::find_passing_lane | ( | void | ) |
| void Course::find_travel_lane | ( | bool | rejoin | ) |
| float Course::get_yaw_spring_system | ( | const Polar & | aim_polar, |
| int | poly_id, | ||
| float | poly_heading, | ||
| float | max_yaw, | ||
| float | curr_velocity, | ||
| float | offset_ratio = 0.0 |
||
| ) |
| Polar Course::head_for_waypt | ( | float | target_dist | ) | [private] |
| bool Course::in_lane | ( | const MapPose & | pose | ) | const [inline] |
| bool Course::in_poly_list | ( | const poly_list_t & | polys, |
| const MapPose & | pose | ||
| ) | const [inline] |
| bool Course::lane_waypoint_reached | ( | void | ) |
| void Course::lanes_message | ( | const art_msgs::ArtLanes & | lanes | ) |
handle lanes message
Called from the driver ProcessMessage() handler when new lanes data arrive.
| lanes | pointer to the lanes message in the player message queue. Must copy the data before returning. |
Handle lanes message.
Called from the topic subscription callback when new lanes data arrive.
| void Course::log | ( | const char * | str, |
| const poly_list_t & | polys | ||
| ) |
| float Course::max_speed_for_change_in_heading | ( | const float & | dheading, |
| const float & | distance, | ||
| const float & | max, | ||
| const float & | max_yaw_rate | ||
| ) |
| float Course::max_speed_for_slow_down | ( | const float & | final_speed, |
| const float & | distance, | ||
| const float & | max, | ||
| const float & | max_deceleration | ||
| ) |
| void Course::new_waypoint_reached | ( | ElementID | new_way | ) | [inline] |
| bool Course::new_waypts | ( | void | ) |
| void Course::no_waypoint_reached | ( | void | ) | [inline] |
| bool Course::nqe_special | ( | int | i, |
| int | j | ||
| ) |
| bool Course::plan_valid | ( | void | ) | [inline] |
| ElementID Course::replan_roadblock | ( | void | ) |
| void Course::reset | ( | void | ) |
| bool Course::same_lane | ( | ElementID | id1, |
| ElementID | id2 | ||
| ) | [inline] |
| void Course::set_plan_waypts | ( | void | ) | [inline, private] |
| void Course::signal_for_direction | ( | direction_t | direction | ) | [inline] |
| void Course::signal_pass | ( | void | ) | [inline] |
| void Course::signal_pass_return | ( | void | ) | [inline] |
| bool Course::special_waypt | ( | unsigned | windex | ) | [inline] |
| bool Course::spot_waypoint_reached | ( | void | ) |
| float Course::stop_waypt_distance | ( | bool | same_lane | ) |
return distance to stop way-point, Infinite::distance if none
exit: sets stop_waypt, if found
| void Course::turn_signal_on | ( | bool | direction | ) | [inline] |
| void Course::turn_signals_both_on | ( | void | ) | [inline] |
| void Course::turn_signals_off | ( | void | ) | [inline] |
| float Course::uturn_distance | ( | void | ) |
return distance to U-turn way-point, Infinite::distance if none.
exit: sets stop_waypt to U-turn exit point, if found
| int Course::uturn_order_index | ( | void | ) |
| bool Course::uturn_waypt | ( | unsigned | windex | ) |
| bool Course::zone_perimeter_reached | ( | void | ) |
| bool Course::zone_waypoint_reached | ( | void | ) |
ElementID Course::adj_lane[2] [private] |
poly_list_t Course::adj_polys[2] [private] |
const Config* Course::config_ [private] |
nav_msgs::Odometry* Course::estimate [private] |
double Course::heading_change_ratio [private] |
double Course::k_error [private] |
double Course::k_int [private] |
double Course::k_theta [private] |
double Course::lane_change_secs [private] |
double Course::last_error [private] |
double Course::max_speed_for_sharp [private] |
double Course::max_yaw_rate [private] |
double Course::min_lane_steer_dist [private] |
Navigator* Course::nav [private] |
art_msgs::NavigatorState* Course::navdata [private] |
bool Course::new_plan_lanes [private] |
nav_msgs::Odometry* Course::odom [private] |
art_msgs::Order* Course::order [private] |
int Course::passing_lane [private] |
ElementID Course::plan_waypt[art_msgs::Order::N_WAYPTS] [private] |
int Course::poly_index [private] |
PolyOps* Course::pops [private] |
int Course::saved_replan_num [private] |
double Course::spot_waypoint_radius [private] |
double Course::spring_lookahead [private] |
double Course::turning_latency [private] |
int Course::verbose [private] |
bool Course::waypoint_checked [private] |
double Course::zone_waypoint_radius [private] |