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

#include <uturn.h>

Inheritance diagram for Uturn:
Inheritance graph

List of all members.

Public Member Functions

void configure ()
result_t control (pilot_command_t &pcmd)
void reset (void)
 Uturn (Navigator *navptr, int _verbose)
 ~Uturn ()

Private Types

enum  state_t { Backward, Forward, Wait }

Private Member Functions

float calculate_arc_length (bool forward, const MapXY &center, float safety_radius, const MapXY &p1, const MapXY &p2)
bool circle_and_line_intersect (MapXY center, float radius, MapXY p1, MapXY p2, MapXY &meet_point)
float estimate_uturn_distance (bool forward, float desired_arc_length)
Controller::result_t initialize (void)
bool outside_lanes_front (void)
bool outside_lanes_rear (void)
bool point_outside_lanes (MapXY point)
void reset_me (void)
void set_state (state_t newstate)
MapXY wheel_location (float x, float y)

Private Attributes

bool do_init
float goal_heading
state_t state
poly uturn_entry
poly uturn_exit
poly_list_t uturn_polys

Detailed Description

Definition at line 17 of file uturn.h.

Member Enumeration Documentation

enum Uturn::state_t [private]

Definition at line 30 of file uturn.h.

Constructor & Destructor Documentation

Uturn::Uturn ( Navigator navptr,
int  _verbose 

Definition at line 48 of file

Definition at line 60 of file

Member Function Documentation

float Uturn::calculate_arc_length ( bool  forward,
const MapXY center,
float  safety_radius,
const MapXY p1,
const MapXY p2 
) [private]

Definition at line 442 of file

bool Uturn::circle_and_line_intersect ( MapXY  center,
float  radius,
MapXY  p1,
MapXY  p2,
MapXY meet_point 
) [private]

Definition at line 120 of file

void Uturn::configure ( )

Reimplemented from Controller.

Definition at line 279 of file

float Uturn::estimate_uturn_distance ( bool  forward,
float  desired_arc_length 
) [private]

Definition at line 500 of file

Definition at line 619 of file

bool Uturn::outside_lanes_front ( void  ) [private]

Definition at line 687 of file

bool Uturn::outside_lanes_rear ( void  ) [private]

Definition at line 709 of file

bool Uturn::point_outside_lanes ( MapXY  point) [private]

Definition at line 731 of file

void Uturn::reset ( void  ) [virtual]

Reimplemented from Controller.

Definition at line 754 of file

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

Reimplemented from Controller.

Definition at line 763 of file

void Uturn::set_state ( state_t  newstate) [private]

Definition at line 772 of file

MapXY Uturn::wheel_location ( float  x,
float  y 
) [private]

Definition at line 784 of file

Member Data Documentation

bool Uturn::do_init [private]

Definition at line 38 of file uturn.h.

float Uturn::goal_heading [private]

Definition at line 45 of file uturn.h.

state_t Uturn::state [private]

Definition at line 37 of file uturn.h.

Stop* Uturn::stop [private]

Definition at line 42 of file uturn.h.

Definition at line 47 of file uturn.h.

Definition at line 46 of file uturn.h.

Definition at line 48 of file uturn.h.

The documentation for this class was generated from the following files:

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