#include <uresavoid.h>

Inheritance diagram for UResAvoid:

Public Member Functions
void	closeLogAvoid ()

const char *	codeXmlRobotFront (char *buff, const int buffCnt)

UManSeq *	findPathToHere (UPose exitPose, double endVel, bool exitPoseRel, UTime *tod, bool directTestOnly)

UTime	getCalcTime ()

UPose	getCurrentPose ()

const char *	getLogAvoidFileName ()

UAvoidPathPool *	getPathPool ()

bool	isLogAvoidOpen ()

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

bool	openLogAvoid ()

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setResource (UResBase *resource, bool remove)

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

	UResAvoid ()

void	UResAvoidInit ()

bool	useRev2 ()

virtual	~UResAvoid ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

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 UVarMethodImplement
virtual	~UVarMethodImplement ()

Static Public Member Functions
static const char *	getResClassID ()

Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Protected Member Functions
void	createBaseVar ()

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
UResVarPool *	globVar

char	logAvoidName [MAX_FILENAME_LENGTH]

UResPoseHist *	mapPose

UReacObstGrps	obsts

UAvoidPathPool *	paths

UResPoseHist *	poseHist

UReacRoadLines	roadLines

UVariable *	varAcceptSolution
	accept mid-point solution after this number of calculations. More...

UVariable *	varCalcTime
	debugDump flag, when true a full data dump (or as much as planned in code) is dumped to logfile. More...

UVariable *	varClearenceDesired
	desired clearence to obstacles (new method) More...

UVariable *	varClearenceMinimum
	minimum allowed clearence to obstacles (new method) More...

UVariable *	varCrashTest
	When set to true more debug info is returned to client and logged. More...

UVariable *	varDebugDump
	debugDump flag, when true a full data dump (or as much as planned in code) is dumped to logfile. More...

UVariable *	varDriveonGA
	drivon angle gain parameter More...

UVariable *	varDriveonGD
	driveon distance gain parameter More...

UVariable *	varFollowLineOnLastPose
	should destination pose line be used in a line drive as soon as possible More...

UVariable *	varForwardAngle
	allow forward solutions only - positive or negative (radians) More...

UVariable *	varFrontLeft

UVariable *	varFrontRight

UVariable *	varIgnoreCloseObst
	debug maximum of allowed close obstacles that are to be ignored More...

UVariable *	varIgnoreObstacles
	flag to set if obstacles (all) are to be ignored - path to bosition only) More...

UVariable *	varMakeAvoidObstPolygon
	debug make also generated obstacles to polygons More...

UVariable *	varMakeCellCostLine
	debug flag - make polyline from the cell path cost lines More...

UVariable *	varMakeCellPolygon
	debug flag - makeCellPolygon - 0 = no cells, 1= all cells 2=traversed cells More...

UVariable *	varMakeCellPolygonMaxY
	debug limit of polygon size (for display only) More...

UVariable *	varMakeCellVertexLine
	debug flag - make polyline from vertex-points from current to target position More...

UVariable *	varMakeFootprintPolygon
	debug flag - makeCellPolygon - boolean More...

UVariable *	varManCnt

UVariable *	varMaxAcc
	maximum lateral acceleration More...

UVariable *	varMaxAvoidLoops
	maximum number of loops for midPose search More...

UVariable *	varMaxNestedSpawns
	number of nested levels More...

UVariable *	varMaxOG
	number of obstacle groups used for obstacle avoidance More...

UVariable *	varMaxSpawnCount
	maximum spawn count limit More...

UVariable *	varMaxTangentDepth
	maximumber of tantents to search for the visibility graph More...

UVariable *	varMaxTangentToMan
	Maximum number of tangent sequences testes, if first sequences fails in manoeuvre generation. More...

UVariable *	varMaxTurnAcc
	maximum acceleration in turns More...

UVariable *	varMinTurnRadius
	minimum allowed turn radius More...

UVariable *	varObstMinDist
	(old method - (desired) minimum distance to obstacle More...

UVariable *	varObstMinMinDist
	(old method - absolute minimum distance to obstacle More...

UVariable *	varRev2

UVariable *	varRev2cell

UVariable *	varSerial

UVariable *	varUseAnyResult
	debug flag - use any solution More...

UVariable *	varUseDriveon
	Use drivon manoeuver planning. More...

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Private Member Functions
void	copyAvoidObstacles (UAvoidPath2 *resAP)

void	copyCellPolys (UAvoidCellGraph *avcg)

void	copyFootprintPolys (UAvoidPath2 *resAP, int oldCnt)

Private Attributes
char	sBuff [MSL]

Static Private Attributes
static const int	MSL = 10000

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResAvoid::UResAvoid ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UResAvoidInit(), and ~UResAvoid().

UResAvoid::~UResAvoid ( )

virtual

Destructor

References paths.

Referenced by UResAvoid().

Member Function Documentation

void UResAvoid::closeLogAvoid ( )

Close the logfile

References ULogFile::closeLog(), UAvoidParams::logAvoid, UAvoidPathPool::par, and paths.

Referenced by UFunctionAvoid::handleAvoid(), and isLogAvoidOpen().

const char * UResAvoid::codeXmlRobotFront	(	char *	buff,
		const int	buffCnt
	)

code front-left and front-right points as an xmlPose

Parameters

buff	is the buffer to deliver result into.
buffCnt	is the size of the bugger in bytes.

Returns: a pointer to the buffer.

References UPose::codeXml(), UVariable::get3D(), UResPoseHist::getNewest(), UPose::getPoseToMapPose(), poseHist, varFrontLeft, varFrontRight, UPosition::x, and UPosition::y.

Referenced by getCurrentPose(), and UFunctionAvoid::sendCurrentAvoidPath().

void UResAvoid::copyAvoidObstacles ( UAvoidPath2 * resAP )

private

Copy all grouped and added obstacles to polygon plugin, that is all obstacles in resAp.aogs with a point count > 2.

References UAvoidPath2::aogs, UAvoidPath2::aogsCnt, UResVarPool::callGlobalV(), UPolygon::color, UVariable::getBool(), UPolygon::getPointsCnt(), UObstacle::getSerial(), UResBase::getStaticResource(), UAvoidObst::grp, MSL, UAvoidObst::obst, UVariable::setDouble(), and UVariable::setValues().

Referenced by findPathToHere(), and getCalcTime().

void UResAvoid::copyCellPolys ( UAvoidCellGraph * avcg )

private

Copy cell decomposition cells as polygons in the polygon plugin using the name cellPoly.XXX

Parameters

svcg	is the cell decomposition structure

References UResVarPool::callGlobalV(), UPolygon::clear(), UPolygon::color, UVariable::getBool(), UAvoidCellGraph::getCellPathPoly(), UAvoidCellGraph::getCellPoly(), UAvoidCellGraph::getCellsCnt(), UAvoidCellGraph::getCellsPathCnt(), UVariable::getInt(), UPolygon::getPointsCnt(), UResBase::getStaticResource(), UVariable::getValued(), MSL, UAvoidCellGraph::polyCell, UAvoidCellGraph::polyVertex, UVariable::setDouble(), UVariable::setValues(), varMakeCellCostLine, varMakeCellPolygon, varMakeCellPolygonMaxY, and varMakeCellVertexLine.

Referenced by findPathToHere(), and getCalcTime().

void UResAvoid::copyFootprintPolys	(	UAvoidPath2 *	resAP,
		int	oldCnt
	)

private

Copy footprint polygons to the polygon resource for debug purposes.

Parameters

resAP	is the path definition with the footprint polygons.
oldCnt	is the prevoius number of polygons (that are to be deleted)

References UResVarPool::callGlobalV(), UVariable::getBool(), UResBase::getStaticResource(), MSL, UAvoidPath2::polys, UAvoidPath2::polysCnt, UVariable::setDouble(), and UVariable::setValues().

Referenced by findPathToHere(), and getCalcTime().

void UResAvoid::createBaseVar ( )

protected

Create the smrif related variables

References UResVarPool::addMethod(), UResVarPool::addMethodV(), UResVarPool::addStruct(), UVarPool::addVar(), UResVarPool::addVar(), UVarPool::addVarA(), varAcceptSolution, varCalcTime, varClearenceDesired, varClearenceMinimum, varCrashTest, varDebugDump, varDriveonGA, varDriveonGD, varFollowLineOnLastPose, varForwardAngle, varFrontLeft, varFrontRight, varIgnoreCloseObst, varIgnoreObstacles, varMakeAvoidObstPolygon, varMakeCellCostLine, varMakeCellPolygon, varMakeCellPolygonMaxY, varMakeCellVertexLine, varMakeFootprintPolygon, varManCnt, varMaxAcc, varMaxAvoidLoops, varMaxNestedSpawns, varMaxOG, varMaxSpawnCount, varMaxTangentDepth, varMaxTangentToMan, varMaxTurnAcc, varMinTurnRadius, varObstMinDist, varObstMinMinDist, varRev2, varRev2cell, varSerial, varUseAnyResult, and varUseDriveon.

Referenced by getCalcTime(), and UResAvoidInit().

UManSeq * UResAvoid::findPathToHere	(	UPose	exitPose,
		double	endVel,
		bool	exitPoseRel,
		UTime *	tod,
		bool	directTestOnly
	)

Find path to this destination - and this desired (maximum) end velocity. Return the time of calculation (pose time) in 'tod'. NB! remember to call result->unlock() when no manoeuvre is longer needed.

Parameters

directTestOnly to test direct path

Returns: man sequence if path is available and usable

References UAvoidParams::acceptAfterSolution, UReacRoadLines::addLeftLine(), UReacObstGrps::addObstGrp(), UReacRoadLines::addRightLine(), UAvoidPath2::avCellGraph, UAvoidParams::avoidSerial, UResVarPool::callGlobal(), UAvoidParams::cellRev2, UReacRoadLines::clear(), UReacObstGrps::clear(), copyAvoidObstacles(), copyCellPolys(), copyFootprintPolys(), UAvoidParams::doCrashTest, UAvoidParams::driveonGA, UAvoidParams::driveonGD, UAvoidPathPool::findPathToHere(), UAvoidPathPool::findPathToHere2(), UAvoidParams::followLineLastPose, UAvoidParams::forwardOnly, UAvoidParams::frontLeft, UAvoidParams::frontRight, UVariable::get3D(), UVariable::getBool(), UVariable::getDouble(), UResVarPool::getGlobalValue(), UReacObstGrps::getGroup(), UReacObstGrps::getGroupsCnt(), UVariable::getInt(), UAvoidPath2::getManSeq(), UReactivePath::getManSeq(), UAvoidParams::getMinTurnRad(), UResPoseHist::getNewest(), UObstacleGroup::getObstsCnt(), UAvoidPathPool::getParamStruct(), UObstacleGroup::getPoseLast(), UTime::getSec(), UObstacleGroup::getSerial(), UAvoidPathPool::getValidAvoidPathsCnt(), UAvoidPathPool::getValidPathsCnt(), UVariable::getValued(), UResVarPool::getVarPool(), globVar, UAvoidParams::ignoreCloseObstAfter, ULogFile::isOpen(), UAvoidPath2::isValid(), ULock::lock(), UAvoidParams::logAvoid, UAvoidParams::makeCellPolygon, UAvoidParams::makeCellPolygonMaxY, UAvoidParams::makeFootprintPolygon, UAvoidParams::maxAcceleration, UAvoidParams::maxAvoidLoops, UAvoidParams::maxNestedLevels, UAvoidParams::maxSpawnCnt, UAvoidParams::maxTangentDepth, UAvoidParams::maxTangentToMan, UAvoidParams::maxTurnAcceleration, mini(), UAvoidParams::minTurnRadius, UAvoidParams::obstClearanceDesired, UAvoidParams::obstClearanceMinimum, UAvoidParams::obstMinDist, UAvoidParams::obstMinMinDist, obsts, UAvoidPath2::oldFootCnt, UAvoidPathPool::par, paths, poseHist, roadLines, UAvoidParams::scanSerial, UPoseV::set(), UVariable::setInt(), UTime::setTime(), UVariable::setTime(), UAvoidParams::startPose, UPoseTime::t, ULogFile::toLog(), ULock::unlock(), UAvoidParams::useAnyResult, UAvoidParams::useDriveon, useRev2(), varAcceptSolution, varCalcTime, varClearenceDesired, varClearenceMinimum, varCrashTest, varDebugDump, varDriveonGA, varDriveonGD, varFollowLineOnLastPose, varForwardAngle, varFrontLeft, varFrontRight, varIgnoreCloseObst, varIgnoreObstacles, varMakeAvoidObstPolygon, varMakeCellPolygon, varMakeCellPolygonMaxY, varMakeFootprintPolygon, varManCnt, varMaxAcc, varMaxAvoidLoops, varMaxNestedSpawns, varMaxOG, varMaxSpawnCount, varMaxTangentDepth, varMaxTangentToMan, varMaxTurnAcc, varMinTurnRadius, varObstMinDist, varObstMinMinDist, varRev2, varRev2cell, varSerial, varUseAnyResult, and varUseDriveon.

Referenced by getLogAvoidFileName(), UFunctionAvoid::handleAvoid(), methodCall(), and methodCallV().

UTime UResAvoid::getCalcTime ( )

inline

Get last avoidance calculation time

References copyAvoidObstacles(), copyCellPolys(), copyFootprintPolys(), createBaseVar(), UVariable::getTime(), and varCalcTime.

Referenced by UFunctionAvoid::handleAvoid().

UPose UResAvoid::getCurrentPose ( )

inline

Get current pose from pose-history

References codeXmlRobotFront(), UResPoseHist::getNewest(), and poseHist.

const char* UResAvoid::getLogAvoidFileName ( )

inline

Get the logfile name

References findPathToHere(), and logAvoidName.

Referenced by UFunctionAvoid::handleAvoid().

UAvoidPathPool* UResAvoid::getPathPool ( )

inline

Get pointer to path pool

References methodCall(), methodCallV(), paths, and useRev2().

Referenced by UFunctionAvoid::handleAvoid(), UFunctionAvoid::sendCurrentAvoidPath(), and UFunctionAvoid::sendCurrentPath().

static const char* UResAvoid::getResClassID ( )

inlinestatic

Fixed name of this resource type

References print().

Referenced by UResAvoid().

bool UResAvoid::isLogAvoidOpen ( )

inline

Is the logfile open

References closeLogAvoid(), ULogFile::isOpen(), UAvoidParams::logAvoid, UAvoidPathPool::par, and paths.

Referenced by UFunctionAvoid::handleAvoid().

bool UResAvoid::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	doubles,
		double *	value,
		UDataBase **	returnStruct = `NULL`,
		int *	returnStructCnt = `NULL`
	)

virtual

The varPool has methods, and a call to one of these are needed. Do the call now and return (a double sized) result in 'value'. Return true if the method call is allowed. "getAvoidPath", "ddd": Find path to exit position. The found route is returned in the 'returnStruct' pointer array. The pointers in the array will be redirected to the static set of manoeuvre buffers in the avoid function, i.e. the result should be used before the next call to 'getAvoidPath'.

Reimplemented from UResVarPool.

References findPathToHere(), UManSeq::getMaxTurnArc(), UResPoseHist::getNewest(), UPose::h, ULogFile::isOpen(), limitToPi(), UAvoidParams::logAvoid, MSL, UAvoidPathPool::par, paths, poseHist, UManSeq::print(), sBuff, UPose::set(), and ULogFile::toLog().

Referenced by getPathPool().

bool UResAvoid::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

The varPool has methods, and a call to one of these are requested. The parameters hold the requested method name, parameter list, parameters, and an array of pointers for the result. All parameters and results are of type UVariable.

Parameters

name	is the method name (within this variable pool)
paramOrder	is the parameter sequence d=double structure or array
params	is the array of UVariable pointers with the values
returnStruct	is an array of pointers (to UDataBase structures, either UVariable or another class based on UDataBase), may be NULL pointers or pointers to actual result variables or classes - as specified in the method definition.
returnStructCnt	is the actual number of returned structure pointers.

Returns: true if the method is handled (recognized)

Reimplemented from UVarMethodImplement.

References UManSeq::copy(), findPathToHere(), UManSeq::getMaxTurnArc(), UResPoseHist::getNewest(), UVariable::getPose(), UPose::h, UResBase::isA(), ULogFile::isOpen(), UAvoidParams::logAvoid, MSL, UAvoidPathPool::par, paths, poseHist, UManSeq::print(), ULogFile::toLog(), ULock::unlock(), UPose::x, and UPose::y.

Referenced by getPathPool().

bool UResAvoid::openLogAvoid ( )

Open logfile - the name is always avoid.log and is placed in the dataPath. The full name is available in 'logAvoidName'.

References ULogFile::closeLog(), ULogFile::isOpen(), UAvoidParams::logAvoid, ULogFile::openLog(), UAvoidPathPool::par, and paths.

Referenced by UFunctionAvoid::handleAvoid(), and snprint().

const char * UResAvoid::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. print status to a string buffer

Reimplemented from UResVarPool.

Referenced by getResClassID(), and snprint().

bool UResAvoid::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

The server will offer a resource pointer by this call. If the resource is used, please return true.

Reimplemented from UResVarPool.

References UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UResVarPool::getResClassID(), globVar, UResBase::isA(), mapPose, poseHist, and UResVarPool::setResource().

Referenced by snprint().

virtual const char* UResAvoid::snprint	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

inlinevirtual

print status to a string buffer

References openLogAvoid(), print(), and setResource().

void UResAvoid::UResAvoidInit ( )

Initialize class

References createBaseVar(), UResVarPool::createVarSpace(), ULogFile::getLogFileName(), globVar, UAvoidParams::logAvoid, logAvoidName, mapPose, MAX_FILENAME_LENGTH, UAvoidPathPool::par, paths, poseHist, and ULogFile::setLogName().

Referenced by UResAvoid().

bool UResAvoid::useRev2 ( )

Is the obstacle avoidance a rev1 or rev 2 calculation

References UVariable::getBool(), and varRev2.

Referenced by findPathToHere(), getPathPool(), and UFunctionAvoid::handleAvoid().

Member Data Documentation

UResVarPool* UResAvoid::globVar

protected

Global variables to access obstacles and road lines

Referenced by findPathToHere(), setResource(), and UResAvoidInit().

char UResAvoid::logAvoidName[MAX_FILENAME_LENGTH]

protected

Filename for obstacle avoidance logging

Referenced by getLogAvoidFileName(), and UResAvoidInit().

UResPoseHist* UResAvoid::mapPose

protected

Pose history

Referenced by setResource(), and UResAvoidInit().

const int UResAvoid::MSL = 10000

staticprivate

a common string buffer for logging

Referenced by copyAvoidObstacles(), copyCellPolys(), copyFootprintPolys(), methodCall(), and methodCallV().

UReacObstGrps UResAvoid::obsts

protected

Obstacles to avoid

Referenced by findPathToHere().

UAvoidPathPool* UResAvoid::paths

protected

Pool of alternative paths generated in responce to the obstacles and road lines

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

UResPoseHist* UResAvoid::poseHist

protected

Pose history

Referenced by codeXmlRobotFront(), findPathToHere(), getCurrentPose(), methodCall(), methodCallV(), setResource(), and UResAvoidInit().

UReacRoadLines UResAvoid::roadLines

protected

Road lines to respect

Referenced by findPathToHere().

char UResAvoid::sBuff[MSL]

private

Referenced by methodCall().

UVariable* UResAvoid::varAcceptSolution

protected

accept mid-point solution after this number of calculations.

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varCalcTime

protected

debugDump flag, when true a full data dump (or as much as planned in code) is dumped to logfile.

Referenced by createBaseVar(), findPathToHere(), and getCalcTime().

UVariable* UResAvoid::varClearenceDesired

protected

desired clearence to obstacles (new method)

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varClearenceMinimum

protected

minimum allowed clearence to obstacles (new method)

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varCrashTest

protected

When set to true more debug info is returned to client and logged.

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varDebugDump

protected

debugDump flag, when true a full data dump (or as much as planned in code) is dumped to logfile.

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varDriveonGA

protected

drivon angle gain parameter

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varDriveonGD

protected

driveon distance gain parameter

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varFollowLineOnLastPose

protected

should destination pose line be used in a line drive as soon as possible

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varForwardAngle

protected

allow forward solutions only - positive or negative (radians)

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varFrontLeft

protected

Index to variable most problematic front left position

Referenced by codeXmlRobotFront(), createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varFrontRight

protected

Index to variable most problematic front right position

Referenced by codeXmlRobotFront(), createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varIgnoreCloseObst

protected

debug maximum of allowed close obstacles that are to be ignored

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varIgnoreObstacles

protected

flag to set if obstacles (all) are to be ignored - path to bosition only)

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMakeAvoidObstPolygon

protected

debug make also generated obstacles to polygons

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMakeCellCostLine

protected

debug flag - make polyline from the cell path cost lines

Referenced by copyCellPolys(), and createBaseVar().

UVariable* UResAvoid::varMakeCellPolygon

protected

debug flag - makeCellPolygon - 0 = no cells, 1= all cells 2=traversed cells

Referenced by copyCellPolys(), createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMakeCellPolygonMaxY

protected

debug limit of polygon size (for display only)

Referenced by copyCellPolys(), createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMakeCellVertexLine

protected

debug flag - make polyline from vertex-points from current to target position

Referenced by copyCellPolys(), and createBaseVar().

UVariable* UResAvoid::varMakeFootprintPolygon

protected

debug flag - makeCellPolygon - boolean

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varManCnt

protected

Index to variable with manoeuvre count

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxAcc

protected

maximum lateral acceleration

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxAvoidLoops

protected

maximum number of loops for midPose search

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxNestedSpawns

protected

number of nested levels

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxOG

protected

number of obstacle groups used for obstacle avoidance

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxSpawnCount

protected

maximum spawn count limit

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxTangentDepth

protected

maximumber of tantents to search for the visibility graph

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxTangentToMan

protected

Maximum number of tangent sequences testes, if first sequences fails in manoeuvre generation.

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMaxTurnAcc

protected

maximum acceleration in turns

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varMinTurnRadius

protected

minimum allowed turn radius

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varObstMinDist

protected

(old method - (desired) minimum distance to obstacle

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varObstMinMinDist

protected

(old method - absolute minimum distance to obstacle

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varRev2

protected

Index to boolean flag selecting wich obstacle avoidance method to use

Referenced by createBaseVar(), findPathToHere(), and useRev2().

UVariable* UResAvoid::varRev2cell

protected

Index to boolean flag selecting wich cell decomposition method

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varSerial

protected

Index to boolean flag selecting wich obstacle avoidance method to use

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varUseAnyResult

protected

debug flag - use any solution

Referenced by createBaseVar(), and findPathToHere().

UVariable* UResAvoid::varUseDriveon

protected

Use drivon manoeuver planning.

Referenced by createBaseVar(), and findPathToHere().

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

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