uturn.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator U-turn controller
00004  *
00005  *  Copyright (C) 2010, Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: uturn.h 872 2010-11-28 13:31:07Z jack.oquin $
00009  */
00010 
00011 #ifndef __UTURN_HH__
00012 #define __UTURN_HH__
00013 
00014 class Safety;
00015 class Stop;
00016 
00017 class Uturn: public Controller
00018 {
00019 public:
00020 
00021   Uturn(Navigator *navptr, int _verbose);
00022   ~Uturn();
00023   void configure();
00024   result_t control(pilot_command_t &pcmd);
00025   void reset(void);
00026 
00027 private:
00028 
00029   // simple state machine
00030   typedef enum
00031     {
00032       Backward,                         // moving backward
00033       Forward,                          // moving forward
00034       Wait,                             // wait until lane clear
00035     } state_t;
00036 
00037   state_t state;                        // current FSM state
00038   bool do_init;
00039 
00040   // subordinate controllers
00041   //Safety *safety;
00042   Stop  *stop;
00043 
00044   // private data
00045   float goal_heading;                   // heading of goal way-point
00046   poly uturn_exit;                      // current U-turn exit poly
00047   poly uturn_entry;                     // U-turn entry (goal) poly
00048   poly_list_t  uturn_polys;             // polygons for U-turn lanes
00049 
00050   float calculate_arc_length(bool forward, const MapXY& center, 
00051                              float safety_radius,
00052                              const MapXY& p1, const MapXY& p2);
00053   bool circle_and_line_intersect(MapXY center, float radius,
00054                                  MapXY p1, MapXY p2,
00055                                  MapXY &meet_point);
00056   float estimate_uturn_distance(bool forward, float desired_arc_length);
00057   Controller::result_t initialize(void);
00058   bool outside_lanes_front(void);
00059   bool outside_lanes_rear(void);
00060   bool point_outside_lanes(MapXY point);
00061   void reset_me(void);
00062   void set_state(state_t newstate);
00063   MapXY wheel_location(float x, float y);
00064 };
00065 
00066 #endif // __UTURN_HH__
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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11