lane_edge.cc
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00001 /*
00002  *  Navigator lane edge controller
00003  *
00004  *  Copyright (C) 2007, 2010, Austin Robot Technology
00005  *
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: lane_edge.cc 479 2010-08-27 01:16:11Z jack.oquin $
00009  */
00010 
00011 #include "navigator_internal.h"
00012 #include "Controller.h"
00013 #include "course.h"
00014 #include "lane_edge.h"
00015 #include "safety.h"
00016 
00017 LaneEdge::LaneEdge(Navigator *navptr, int _verbose):
00018   Controller(navptr, _verbose)
00019 {
00020   safety = new Safety(navptr, _verbose);
00021 }
00022 
00023 LaneEdge::~LaneEdge()
00024 {
00025   delete safety;
00026 }
00027 
00028 void LaneEdge::configure()
00029 {
00030   safety->configure(cf, section);
00031 }
00032 
00033 // steer towards the edge of the lane
00034 //
00035 // entry:
00036 //      offset_ratio = lane offset ratio: where 1.0 is the left edge
00037 //              and -1.0 is the right edge.
00038 // exit:
00039 //      pcmd adjusted to head for desired offset in the lane with
00040 //      speed adjusted by the safety controller
00041 // returns:
00042 //      safety controller result if this path taken
00043 //      
00044 Controller::result_t LaneEdge::control(pilot_command_t &pcmd,
00045                                        float offset_ratio)
00046 {
00047   result_t result = OK;
00048 
00049   // set heading with desired offset
00050   course->desired_heading(pcmd, offset_ratio);
00051 
00052   // always run safety check on the output
00053   result = safety->control(pcmd);
00054 
00055   trace("lane_edge controller", pcmd, result);
00056   return result;
00057 }
00058 
00059 // reset all subordinate controllers
00060 void LaneEdge::reset(void)
00061 {
00062   trace_reset("LaneEdge");
00063   safety->reset();
00064 }
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11