#include <uresnavifman.h>

Inheritance diagram for UClientManSeq:

Public Member Functions
UPose *	getPoses ()

int	getPosesCnt ()

char *	getSegChars ()

ULineSegment *	getSegs ()

int	getSegsCnt ()

UTime	getUpdTime ()

bool	isBest ()

bool	isPathFailed ()

bool	setFromTag (USmlTag *tag)

	UClientManSeq ()

virtual	~UClientManSeq ()

Public Member Functions inherited from UManSeq
bool	addMan (UPoseV fromPose, UPoseV toPose, double maxAcc, double maxTurnAcc, double minTurnRad, double *okVel=NULL)

bool	addManDriveon (UPoseV fromPose, UPoseV toPose, double turnRad)

UManPPSeq *	addP2P ()

bool	copy (UManSeq *source)

bool	expandMan (UPoseV fromPose, UPoseV toPose, bool last, double maxAcc, double maxTurnAcc, double minTurnRad, UManPPSeq ppSeq, double okVel)

bool	expandManDriveon (UPoseV fromPose, UPoseV toPose, double turnRad, UManPPSeq *ppSeq)

void	fprint (FILE fd, const char prestr)

void	freeAll ()

virtual const char *	getDataType ()

double	getDeviationFromDirect ()

double	getDistance ()

double	getDistanceFromEndPoseLine (double *maxHeading)
	Calculate the distance from the end-pose line to the point on the manoeuvre furthest away from the line. Only the start/end points of each manoeuvere is used, so if one of the pose to pose manoeuvres has an almost full circle, then the circle is not counted. More...

double	getDistanceXYSigned (UPosition pos, int where, bool posIsRight, double maxDist, UPose pHit, int idx, double t)

UPoseV	getEndPoseV ()

double	getMaxTurnArc ()

double	getMinDistanceXYSigned (ULineSegment seg, int whereOnSeg, UPosition posOnSeg, bool posIsRight, double maxDist, int whereOnMan, UPose poseOnMan, int idx)

double	getNeededAcc (double startVel, double endVel, double distance)

double	getNeededDist (double startVel, double endVel, double acc)

UManoeuvre *	getNewArc (double radius, double angle, bool left, double acceleration, double targetVel)

UManoeuvre *	getNewArc (double radius, double angle, double acceleration, double targetVel)

UManoeuvre *	getNewLine (double dist, double acceleration, double targetVel)

UManoeuvre *	getNewStop ()

UManPPSeq *	getP2P (int idx)

int	getP2PCnt ()

UPoseV	getPoseV (double atManTime)

UPoseV	getStartPoseV ()

double	getTime ()

bool	isValid ()

const char *	print (const char prestr, char buff, const int buffCnt)

void	releaseAll (UManPPSeq *ppseq)

void	releaseAllMan ()

void	releaseLast ()

void	removeLastArc ()

bool	replaceMan (UPoseV midPose, bool fixate, double maxAcc, double maxTurnAcc, double minTurnRad, int fromIdx, int toIdx, bool newEndpoint, double *okVel)

bool	replaceManDriveon (UPoseV midPose, bool fixate, double turnRad, int fromIdx, int toIdx, bool newEndpoint)

int	reusableCnt ()

void	truncate (UManPPSeq *ppseq, int newCnt)

	UManSeq ()

	~UManSeq ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Protected Attributes
bool	isACrash

bool	pathUsed

UPose	poses [MAX_TESTED_POSES]

int	posesCnt

ULineSegment	segs [MAX_TESTED_LINES]

char	segsChar [MAX_TESTED_LINES]

int	segsCnt

UTime	updTime

Protected Attributes inherited from UManSeq
UManPPSeq *	p2p [MAX_PP_MAN_CNT]

int	p2pCnt

Static Protected Attributes
static const int	MAX_TESTED_LINES = 500

static const int	MAX_TESTED_POSES = 50

Static Protected Attributes inherited from UManSeq
static const int	MAX_PP_MAN_CNT = 100

Additional Inherited Members
Protected Member Functions inherited from UManSeq
bool	expandAddManALA (UManPPSeq ppSeq, bool last, double maxAcc, double maxTurnAcc, double okVel)

bool	expandAddManLALA (UManPPSeq *ppSeq, bool last, double maxAcc, double maxTurnAcc, double minTurnRad)

void	release (UManoeuvre *toRelease)

UManoeuvre *	requestObj (int manType)

Detailed Description

Class extended from UManSeq to hold added information, when used on client side for display purposes.

Constructor & Destructor Documentation

UClientManSeq::UClientManSeq ( )

inline

Constructor

References isACrash.

Referenced by UResNavIfMan::handleManData().

virtual UClientManSeq::~UClientManSeq ( )

inlinevirtual

Destructor

Member Function Documentation

UPose* UClientManSeq::getPoses ( )

inline

get first of mid-poses tested in generation of path

References poses.

Referenced by UNavPaint::paintManData().

int UClientManSeq::getPosesCnt ( )

inline

Get number of available poses on poses array

References posesCnt.

Referenced by UNavPaint::paintManData().

char* UClientManSeq::getSegChars ( )

inline

Get character array wit tope information on the line segments associiated with this path

References segsChar.

Referenced by UNavPaint::paintManData().

ULineSegment* UClientManSeq::getSegs ( )

inline

get first of mid-poses tested in generation of path

References segs.

Referenced by UNavPaint::paintManData().

int UClientManSeq::getSegsCnt ( )

inline

Get number of available poses on poses array

References segsCnt.

Referenced by UNavPaint::paintManData().

UTime UClientManSeq::getUpdTime ( )

inline

Get the manoeuvre update time

Referenced by UPaintManoeuvre::addManToViewer(), and UPaintManoeuvres::paintManData().

bool UClientManSeq::isBest ( )

inline

Is this sequence the best (the used) path

References pathUsed, and setFromTag().

Referenced by UPaintManoeuvre::addManToViewer(), UResNavIfMan::handleManData(), and UNavPaint::paintManData().

bool UClientManSeq::isPathFailed ( )

inline

Is path crashed in the planning process, i.e. did not find a obstacle free route to the destination pose.

References isACrash.

Referenced by UNavPaint::paintManData().

bool UClientManSeq::setFromTag ( USmlTag * tag )

Set this manoeuvre sequence from this tag - and subsequent tags

References USmlTagIn::getAttValue(), USmlTag::getLineSegment(), USmlTag::getManSeq(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTag::getPose(), USmlTagIn::getTagName(), isACrash, USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_SML_NAME_LENGTH, MAX_TESTED_LINES, MAX_TESTED_POSES, pathUsed, poses, posesCnt, UManSeq::releaseAllMan(), USmlTagIn::reset(), segs, segsChar, segsCnt, UTime::setTimeTod(), USmlTag::skipToEndTag(), str2bool(), and updTime.

Referenced by UResNavIfMan::handleManData(), and isBest().

Member Data Documentation

bool UClientManSeq::isACrash

protected

Manoeuvre flag for a crashed path - probably just partially completed until an impossible passage were discovered, but may be available for analysis purposes.

Referenced by isPathFailed(), setFromTag(), and UClientManSeq().

const int UClientManSeq::MAX_TESTED_LINES = 500

staticprotected

Maximum number of tested lines in generation of this path

Referenced by setFromTag().

const int UClientManSeq::MAX_TESTED_POSES = 50

staticprotected

Maximum number of tested poses in generation of this path

Referenced by setFromTag().

bool UClientManSeq::pathUsed

protected

Flag to say that this path is the selected best path