Public Member Functions | Private Types | Private Member Functions | Private Attributes
PARK_control Class Reference

#include <parking.h>

Inheritance diagram for PARK_control:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void configure (ConfigFile *cf, int section)
result_t control (pilot_command_t &pcmd, mapxy_list_t, bool voronoi_stuck=true)
 PARK_control (Navigator *navptr, int _verbose)
void reset (void)
 ~PARK_control ()

Private Types

enum  state_t { hit_waypoint, approach_spot, pull_in, pull_out }

Private Member Functions

int adjust_spot (std::vector< WayPointNode > &new_waypts, ObstacleList obstacles, float max_x_offset, float max_y_offset, float step_size)
bool hit_way_point (float park_distance, float park_turn, float dheading)
Controller::result_t initialize (pilot_command_t &pcmd, const mapxy_list_t &)
void reset_me ()
bool small_segment (float distance, float turn)

Private Attributes

bool find_a_better_spot
float find_spot_max_x_offset
float find_spot_max_y_offset
float find_spot_step_size
Halthalt
bool halting
float last_park_dist
float last_park_turn
pilot_command_t last_pcmd
float lastYaw
float min_adj_dist
float min_distance
int min_obst
float min_theta
player_pose2d_t new_end_pose
float park_distance
float park_max_speed
float park_turn
float park_turn_ratio
float parking_speed_limit
Safetysafety
float speed_limit
std::vector< MapXYspot_points
state_t state
Stopstop

Detailed Description

Definition at line 22 of file parking.h.


Member Enumeration Documentation

enum PARK_control::state_t [private]
Enumerator:
hit_waypoint 
approach_spot 
pull_in 
pull_out 

Definition at line 35 of file parking.h.


Constructor & Destructor Documentation

PARK_control::PARK_control ( Navigator navptr,
int  _verbose 
)

Definition at line 132 of file parking.cc.

Definition at line 143 of file parking.cc.


Member Function Documentation

int PARK_control::adjust_spot ( std::vector< WayPointNode > &  new_waypts,
ObstacleList  obstacles,
float  max_x_offset,
float  max_y_offset,
float  step_size 
) [private]

Definition at line 84 of file parking.cc.

void PARK_control::configure ( ConfigFile *  cf,
int  section 
)

Definition at line 151 of file parking.cc.

Controller::result_t PARK_control::control ( pilot_command_t pcmd,
mapxy_list_t  obs_list,
bool  voronoi_stuck = true 
)

Definition at line 194 of file parking.cc.

bool PARK_control::hit_way_point ( float  park_distance,
float  park_turn,
float  dheading 
) [private]

Definition at line 644 of file parking.cc.

Controller::result_t PARK_control::initialize ( pilot_command_t pcmd,
const mapxy_list_t obs_list 
) [private]

Definition at line 496 of file parking.cc.

void PARK_control::reset ( void  ) [virtual]

Reimplemented from Controller.

Definition at line 471 of file parking.cc.

void PARK_control::reset_me ( void  ) [private, virtual]

Reimplemented from Controller.

Definition at line 482 of file parking.cc.

bool PARK_control::small_segment ( float  distance,
float  turn 
) [private]

Definition at line 691 of file parking.cc.


Member Data Documentation

Definition at line 53 of file parking.h.

Definition at line 54 of file parking.h.

Definition at line 55 of file parking.h.

Definition at line 56 of file parking.h.

Definition at line 62 of file parking.h.

Definition at line 86 of file parking.h.

Definition at line 90 of file parking.h.

Definition at line 91 of file parking.h.

Definition at line 88 of file parking.h.

float PARK_control::lastYaw [private]

Definition at line 93 of file parking.h.

float PARK_control::min_adj_dist [private]

Definition at line 92 of file parking.h.

float PARK_control::min_distance [private]

Definition at line 80 of file parking.h.

int PARK_control::min_obst [private]

Definition at line 95 of file parking.h.

float PARK_control::min_theta [private]

Definition at line 80 of file parking.h.

player_pose2d_t PARK_control::new_end_pose [private]

Definition at line 78 of file parking.h.

float PARK_control::park_distance [private]

Definition at line 73 of file parking.h.

Definition at line 85 of file parking.h.

float PARK_control::park_turn [private]

Definition at line 73 of file parking.h.

Definition at line 84 of file parking.h.

Definition at line 51 of file parking.h.

Definition at line 60 of file parking.h.

float PARK_control::speed_limit [private]

Definition at line 71 of file parking.h.

std::vector<MapXY> PARK_control::spot_points [private]

Definition at line 94 of file parking.h.

Definition at line 44 of file parking.h.

Definition at line 61 of file parking.h.


The documentation for this class was generated from the following files:
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11