#include <uavoidparams.h>

Public Member Functions
double	getDiagonal (bool avoidLeft, bool tight, double *diagAngle)

double	getDistToCorner (bool left, bool justMax)

double	getMinOpening ()

double	getMinTurnRad ()

double	getSafeDistance (bool avoidLeft, bool inner, bool tight, bool linear)

double	getWallWallRadius (bool avoidLeft, double turnRadius)

	UAvoidParams ()

bool	withinRobotOutline (UPose robot, UPosition pos, double margin)

	~UAvoidParams ()

Public Attributes
int	acceptAfterSolution

int	avoidSerial

bool	cellRev2

bool	doCrashTest

double	driveonGA

double	driveonGD

UPoseV	exitPose

bool	followLineLastPose

double	forwardOnly

UPosition	frontLeft

UPosition	frontRight

int	ignoreCloseObstAfter

ULogFile *	logAvoid

int	makeCellPolygon

double	makeCellPolygonMaxY

bool	makeFootprintPolygon

double	maxAcceleration

int	maxAvoidLoops

int	maxNestedLevels

int	maxSpawnCnt

int	maxTangentDepth

int	maxTangentToMan

double	maxTurnAcceleration

double	minTurnRadius

double	obstClearanceDesired

double	obstClearanceMinimum

double	obstMinDist

double	obstMinMinDist

UReacObstGrps *	obsts

UReacRoadLines *	roads

int	scanSerial

UPoseV	startPose

bool	useAnyResult

bool	useDriveon

Detailed Description

Class with parameters to be used during the path generation, and is linked to all path candidates.

Constructor & Destructor Documentation

UAvoidParams::UAvoidParams ( )

Constructor

This program is free software; you can redistribute it and/or modify * it under the terms of the GNU Library General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. *
This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. *
You should have received a copy of the GNU Library General Public * License along with this program; if not, write to the * Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

References avoidSerial, cellRev2, UPose::clear(), doCrashTest, driveonGA, driveonGD, exitPose, followLineLastPose, frontLeft, frontRight, logAvoid, maxAcceleration, maxAvoidLoops, maxNestedLevels, maxSpawnCnt, maxTangentDepth, maxTurnAcceleration, minTurnRadius, obstClearanceDesired, obstClearanceMinimum, obstMinDist, obstMinMinDist, obsts, roads, UPosition::set(), startPose, and useDriveon.

UAvoidParams::~UAvoidParams ( )

inline

Destructor

References getDiagonal(), getDistToCorner(), getMinOpening(), getMinTurnRad(), getSafeDistance(), getWallWallRadius(), logAvoid, and withinRobotOutline().

Member Function Documentation

double UAvoidParams::getDiagonal	(	bool	avoidLeft,
		bool	tight,
		double *	diagAngle
	)

get diagonal of vehicle, where the with is extended with the desired cleaence

Parameters

avoidLeft	if true, then the front-left corner of vehicle is used. (else ther front right).
tight	if true, then the minimum clearence is udes, else the desired clearence.
diagAngle	is (if not NULL) the diagonal angle away from forward direction - always positive.

Returns: the diagonal to the desired corner.

References frontLeft, frontRight, obstClearanceDesired, obstClearanceMinimum, UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::getClosestObst2(), UAvoidPath2::isAfterDestination(), and ~UAvoidParams().

double UAvoidParams::getDistToCorner	(	bool	left,
		bool	justMax
	)

Get distance from robot centre (0,0) to one of the front corners.

Parameters

left	get distance to the front-left corner - else the right corner (if not justMax)
justMax	return the bigger distance of either corner.

Returns: a positive distance - no clearence is added.

References frontLeft, frontRight, UPosition::x, and UPosition::y.

Referenced by ~UAvoidParams().

double UAvoidParams::getMinOpening ( )

Get the minimum opening, where this robot cam pass - inclusive of minimum clearence.

Returns: the minimum opening width.

References frontLeft, frontRight, obstClearanceMinimum, and UPosition::y.

Referenced by UAvoidPath2::findObstAvoidRoute(), UAvoidPath2::toReplaceOldPoint(), and ~UAvoidParams().

double UAvoidParams::getMinTurnRad ( )

Get minimum turn radius

References driveonGA, driveonGD, minTurnRadius, and useDriveon.

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::extendManoeuvre(), UResAvoid::findPathToHere(), UAvoidPath2::findRoutesA(), UAvoidPath2::getClosestObst2(), getSafeDistance(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::setPreStopPoint(), UAvoidPath2::toReplaceOldPoint(), and ~UAvoidParams().

double UAvoidParams::getSafeDistance	(	bool	avoidLeft,
		bool	inner,
		bool	tight,
		bool	linear
	)

Get safe distance from an obstacle point to other obstacles. The calculation uses robot width, minimum turn radius, position of front-left and front right extreeme.

Parameters

avoidLeft	that is we are turning right
inner	is it the inner save distance (else outher). Outher includes allowance for turn at maximum turn radius (from avoid.minTurnRadius)
tight	use tight clearence, rather than the wider normal clearence
linear	is the pathe linear (as opposed to an arc) If 'tight' is true, the absolute minimum obst clearence distance is used. if 'linear' is true, then turn radius is assumed to be 10 times robot width (almost infinity).

Returns: the safe distance from path, where within no obstacles should be found.

References frontLeft, frontRight, getMinTurnRad(), obstClearanceDesired, obstClearanceMinimum, UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::avoidToTheLeft(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createAvoidPoinsPath(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::getClosestObst2(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::setPreStopPoint(), UAvoidPath2::setTurnCentre(), UAvoidPath2::validNewClosePoint(), and ~UAvoidParams().

double UAvoidParams::getWallWallRadius	(	bool	avoidLeft,
		double	turnRadius
	)

Get radius of smallest wall to wall turn circle.

Parameters

avoidLeft	if true then avoiding an obstacle to the left (i.e. turning right).
turnRadius	is the actual turnradius.

Returns: circle radius for wall to wall circle (no safety space)

References frontLeft, frontRight, UPosition::x, and UPosition::y.

Referenced by ~UAvoidParams().

bool UAvoidParams::withinRobotOutline	(	UPose	robot,
		UPosition	pos,
		double	margin
	)

Is this position within robot envelope plus a margin.

Parameters

UPose	robot position.
pos	is position to test.
margin	to add to envelope - positive makes area bigger.

Returns: true if within.

References frontLeft, frontRight, UPose::getMapToPose(), UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::validNewClosePoint(), and ~UAvoidParams().

Member Data Documentation

int UAvoidParams::acceptAfterSolution

Stop calculation after this solution number (debug value), default = 999

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), and UResAvoid::findPathToHere().

int UAvoidParams::avoidSerial

Serial number for this obstacle avoidance route

Referenced by UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), and UAvoidParams().

bool UAvoidParams::cellRev2

Use new cell-decomposition method

Referenced by UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), UAvoidPath2::groupObstacles(), and UAvoidParams().

bool UAvoidParams::doCrashTest

When true, then failed paths will survive marked as crashed

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

double UAvoidParams::driveonGA

driveon gain for angle

Referenced by UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), getMinTurnRad(), and UAvoidParams().

double UAvoidParams::driveonGD

driveon gain for distance from line (max equal angle value for 90 deg). The approximated turn angle is (pi/2 * GA / GD)

Referenced by UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), getMinTurnRad(), and UAvoidParams().

UPoseV UAvoidParams::exitPose

Desired exit pose and speed

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addStartAndExit(), UAvoidPath2::addToLnkSeqs(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createPointList(), UAvoidPath2::extendManoeuvre(), UAvoidCellGraph::findBestCellPath(), UAvoidPath2::findObstAvoidRoute(), UAvoidPath2::findRoutesA(), UAvoidPath2::invalidateObstaclesAtStartAndExit(), UAvoidPath2::setMidPoint(), and UAvoidParams().

bool UAvoidParams::followLineLastPose

Try to follow line on last pose - usable in row following

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createPointList(), UResAvoid::findPathToHere(), and UAvoidParams().

double UAvoidParams::forwardOnly

Allow obstacle avoidance routes that starting within this angle relative to current heading

Referenced by UResAvoid::findPathToHere(), UAvoidPath2::findRoutes(), and UAvoidPath2::findRoutesA().

UPosition UAvoidParams::frontLeft

Most limiting front left position (x is forwared y is left)

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UResAvoid::findPathToHere(), UAvoidPath2::getClosestObst2(), getDiagonal(), getDistToCorner(), getMinOpening(), getSafeDistance(), getWallWallRadius(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setPreStopPoint(), UAvoidParams(), and withinRobotOutline().

UPosition UAvoidParams::frontRight

Most limiting front right position (x is forwared y is left)

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UResAvoid::findPathToHere(), UAvoidPath2::getClosestObst2(), getDiagonal(), getDistToCorner(), getMinOpening(), getSafeDistance(), getWallWallRadius(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setPreStopPoint(), UAvoidParams(), and withinRobotOutline().

int UAvoidParams::ignoreCloseObstAfter

Debug parameter to ignore close obstacles after this number of avoided obstacles - apart from those in the visibility graph.

Referenced by UAvoidPath2::convertToManSeq(), and UResAvoid::findPathToHere().

ULogFile* UAvoidParams::logAvoid

Logfile for obstacle avoidance

Referenced by UResAvoid::closeLogAvoid(), UResAvoid::findPathToHere(), UResAvoid::isLogAvoidOpen(), UResAvoid::methodCall(), UResAvoid::methodCallV(), UResAvoid::openLogAvoid(), UAvoidParams(), UResAvoid::UResAvoidInit(), and ~UAvoidParams().

int UAvoidParams::makeCellPolygon

(debug flag) Make cell polygons 0=not, 1=all, 2=used only

Referenced by UResAvoid::findPathToHere().

double UAvoidParams::makeCellPolygonMaxY

(debug flag) limit for polygon size for display

Referenced by UResAvoid::findPathToHere().

bool UAvoidParams::makeFootprintPolygon

(debug flag) Make manoeuvre footprint polygons

Referenced by UResAvoid::findPathToHere().

double UAvoidParams::maxAcceleration

Maximum lateral acceleration allowed

Referenced by UAvoidPath2::extendManoeuvre(), UResAvoid::findPathToHere(), and UAvoidParams().

int UAvoidParams::maxAvoidLoops

Maximum number of loops testing for potential mid-poses

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

int UAvoidParams::maxNestedLevels

Maximum number of nested levels, that is may a spawned path spawn further

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

int UAvoidParams::maxSpawnCnt

Maximum number of spawned paths - in total

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

int UAvoidParams::maxTangentDepth

Max number of tangent depth in path search, i.e. how many obstacles could be touched in the visibility graph (to limit search time)

Referenced by UResAvoid::findPathToHere(), UAvoidPath2::findRouteToDest(), UAvoidPath2::logPathSequences(), and UAvoidParams().

int UAvoidParams::maxTangentToMan

Maximum number of tangent sequences that are tested if no valid manoeuvre can be found for the first tangent sequence

Referenced by UAvoidPath2::findObstAvoidRoute(), and UResAvoid::findPathToHere().

double UAvoidParams::maxTurnAcceleration

Maximum turn (centrifugal) acceleration allowed

Referenced by UAvoidPath2::extendManoeuvre(), UResAvoid::findPathToHere(), and UAvoidParams().

double UAvoidParams::minTurnRadius

Minimum turn radius. This is assumed to be a hard limit.

Referenced by UAvoidPath2::expandVisLinesToManSeq(), UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), getMinTurnRad(), and UAvoidParams().

double UAvoidParams::obstClearanceDesired

Desired minimum obstacle clearence distance

Referenced by UAvoidPath2::convertToManSeq(), UResAvoid::findPathToHere(), UAvoidPath2::getClosestObst2(), getDiagonal(), getSafeDistance(), UAvoidPath2::setPreStopPoint(), and UAvoidParams().

double UAvoidParams::obstClearanceMinimum

Absolute minimum obstacle clearence distance

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UResAvoid::findPathToHere(), UAvoidPath2::getClosestObst2(), getDiagonal(), getMinOpening(), getSafeDistance(), UAvoidPath2::setClosestPoint(), UAvoidParams(), and UAvoidPath2::validNewClosePoint().

double UAvoidParams::obstMinDist

Minimum distance to obstacles (old method)

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

double UAvoidParams::obstMinMinDist

Absolute minimum distance to obstacles (old method)

Referenced by UResAvoid::findPathToHere(), and UAvoidParams().

UReacObstGrps* UAvoidParams::obsts

Pointer to obstacles that potentially can obstruct the path

Referenced by UAvoidPath2::groupObstacles(), and UAvoidParams().

UReacRoadLines* UAvoidParams::roads

Potentially available roadlines that should be respected

Referenced by UAvoidParams().

int UAvoidParams::scanSerial

scannumber of last processed laserscan (for obstacle detection) - debug info

Referenced by UResAvoid::findPathToHere(), and UAvoidCellGraph::makeCellDecomposition().

UPoseV UAvoidParams::startPose

Start pose for the planning process

Referenced by UAvoidPath2::addStartAndExit(), UAvoidPath2::addToLnkSeqs(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidCellGraph::findBestCellPath(), UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::invalidateObstaclesAtStartAndExit(), UAvoidPath2::setClosestPoint(), UAvoidParams(), and UAvoidPath2::validNewClosePoint().

bool UAvoidParams::useAnyResult

Use any result - OK or not (debug flag)

Referenced by UAvoidPath2::findObstAvoidRoute(), and UResAvoid::findPathToHere().

bool UAvoidParams::useDriveon

use driveon manoeuver estimation, rather the trying to go exactly to the the end pose.

Referenced by UAvoidPath2::extendManoeuvre(), UAvoidPath2::findObstAvoidRoute(), UResAvoid::findPathToHere(), getMinTurnRad(), and UAvoidParams().

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation