DARPA_rules.h

Go to the documentation of this file.

/* -*- mode: C++ -*-
 *
 *  DARPA Urban Challenge rules description
 *
 *  Copyright (C) 2009 Austin Robot Technology                    
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: DARPA_rules.h 630 2010-09-25 16:20:42Z jack.oquin $
 */

#ifndef _DARPA_rules_H_
#define _DARPA_rules_H_

#include <algorithm>
#include <math.h>
#include <art/conversions.h>

#include <art_msgs/ArtVehicle.h>

namespace DARPA_rules
{
  // specific to our vehicle
  const float vehicle_length = art_msgs::ArtVehicle::length;
  const float vehicle_width = art_msgs::ArtVehicle::width;

  // A.4. Stay in lane
  // Stay at least this far away from the road's center line.
  const float lane_center_offset = 1.0f;

  // A.6. Excess delay
  const float excess_delay = 10.0f;

  // A.8. Stop line
  const float stop_line_to_bumper = 1.0f;

  // A.9. Vehicle separation
  const float stop_line_safety_area = 30.0f;
  const float min_forw_sep_safety = 2.0f;
  const float min_forw_sep_travel = vehicle_length;

  const float min_standoff_dist = 1.0f;

  static inline float forw_sep_travel(float speed)
  {
    float speed_mph = mps2mph(speed);
    return fmaxf((speed_mph/10.0f)*vehicle_length, min_forw_sep_travel);
  }

  // A.10. Leaving lane to pass
  const float min_forw_sep_to_pass = vehicle_length;

  // A.11. Returning to lane after pass
  const float min_rear_sep_after_pass = vehicle_length;
  const float front_limit_after_pass = vehicle_length * 4.0f;

  // A.12. U-turn
  const float max_dist_from_entry_exit = 15.0f;

  // D.4. Left turn
  const float max_left_turn_delay = 10.0f;

  // D.5. Vehicle separation during left turn
  const float min_left_turn_sep = vehicle_length * 2.0f;
};

#endif