run.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator run controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *
00007  *  License: Modified BSD Software License Agreement
00008  *
00009  *  $Id: run.h 872 2010-11-28 13:31:07Z jack.oquin $
00010  */
00011 
00012 #ifndef __RUN_HH__
00013 #define __RUN_HH__
00014 
00015 // forward declarations for subordinate classes
00016 class Halt;
00017 class Road;
00018 class Safety;
00019 class NavTimer;
00020 class VoronoiZone;
00021 
00022 class Run: public Controller
00023 {
00024 public:
00025 
00026   Run(Navigator *navptr, int _verbose);
00027   ~Run();
00028   result_t control(pilot_command_t &pcmd);
00029   void reset(void);
00030 
00031 private:
00032 
00033   // Go behavior state machine
00034   typedef enum
00035     {
00036       Continue,                         // run road controller
00037       Escape,                           // try to get unstuck
00038       Replan,                           // wait for Commander to replan
00039     } state_t;
00040 
00041   state_t go_state;                     // current Go behavior FSM state
00042   MapPose blockage_pose;
00043   float blockage_waypt_dist;
00044   int last_replan;
00045 #if NOT_PORTED_TO_ROS
00046   NavTimer *escape_timer;
00047 #endif
00048 
00049 #if NOT_PORTED_TO_ROS
00050   // .cfg variables
00051   bool  escape;
00052   float escape_distance;
00053   double escape_timeout_secs;
00054   bool  extra_safety_check;
00055 #endif
00056 
00057   // subordinate controllers
00058   Halt          *halt;
00059   Road          *road;
00060 #if NOT_PORTED_TO_ROS
00061   Safety        *safety;
00062   VoronoiZone   *unstuck;
00063 #endif
00064 
00065   // behavior-specific control methods
00066   Controller::result_t initialize(pilot_command_t &pcmd);
00067   Controller::result_t go(pilot_command_t &pcmd);
00068 
00069   void begin_escape(void);
00070   void set_go_state(state_t);
00071   ElementID starting_waypt(void);
00072 };
00073 
00074 #endif // __RUN_HH__


art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:08:43