#include <uavoidpoint.h>

Public Member Functions
void	clear ()

UAvoidPoint *	insertAfter (UAvoidPoint *newNext)

bool	isFreeSpace ()

bool	isTight ()

void	printPoses (const char preStr, const char postStr)

void	setAngNext ()

void	setAvoidObst (UAvoidObst *ob, int idx, bool cvLeft)

void	setTurnCentreFromMidPose (double turnCentreRadius, bool cvLeft)

void	setTurnCentreFromMidPose (double turnCentreRadius)

bool	tPointVisible (bool knifeOpening=NULL, bool opposingFirst=NULL)

	UAvoidPoint ()

UAvoidPoint *	unlinkNext ()

	~UAvoidPoint ()

Public Attributes
double	angNext

UAvoidObst *	aob

UPosition	aPos

bool	avoidLeft

bool	followLineLastPose

int	generation

UPose	mCent

UPose	mid
	mid poses are More...

int	midCnt

UAvoidPoint *	next

UAvoidObst *	oob

double	oobDist

UPosition	oPos

double	otDist

bool	oVertex

bool	prePoint

UAvoidPoint *	prev

int	serial
	serial number More...

UPosition	tPos

bool	tVertex

bool	useTight

Detailed Description

Class to hold one offending points on a route, with safety adius and candidate mid-points

Constructor & Destructor Documentation

UAvoidPoint::UAvoidPoint ( )

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 aob, aPos, avoidLeft, clear(), UPosition::clear(), followLineLastPose, generation, and serial.

UAvoidPoint::~UAvoidPoint ( )

Destructor

Member Function Documentation

void UAvoidPoint::clear ( void )

Clear to empty point including next-prev flag

References UPose::clear(), UPosition::clear(), mCent, mid, midCnt, next, oob, oPos, prePoint, prev, tPos, and useTight.

Referenced by UAvoidPath2::getEmptyPoint(), and UAvoidPoint().

UAvoidPoint * UAvoidPoint::insertAfter ( UAvoidPoint * newNext )

Insert new point after this point.

Parameters

newNext is the new point to add

Returns: pointer to just added point.

References next, prev, and setAngNext().

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createPointList(), and UAvoidPath2::insertNewPointAfter().

bool UAvoidPoint::isFreeSpace ( )

inline

Is the passage of this point away from opposing obstacles that will limit manoeuvres. I.e. no close obstacles.

References oob, setAngNext(), setTurnCentreFromMidPose(), tPointVisible(), and unlinkNext().

Referenced by UAvoidPath2::createMidPathPoints(), UAvoidPath2::insertNewPointAfter(), and UAvoidPath2::setTurnCentre().

bool UAvoidPoint::isTight ( )

inline

Is the passage of this point tight, i.e. a neighboring obstacle puts limits on manoeuvre space.

References oob, and useTight.

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), and UAvoidPath2::setTurnCentre().

void UAvoidPoint::printPoses	(	const char *	preStr,
		const char *	postStr
	)

inline

Debug print positions

References aPos, UPose::h, mid, oPos, UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by UAvoidPath2::createMidPathPoints().

void UAvoidPoint::setAngNext ( )

Set the angle to the next point in the point sequence

References angNext, aPos, next, UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::createMidPathPoints(), insertAfter(), isFreeSpace(), and unlinkNext().

void UAvoidPoint::setAvoidObst	(	UAvoidObst *	ob,
		int	idx,
		bool	cvLeft
	)

Set obsacle to avoid

Parameters

ob	is pointer to obstacle
idx	is the point (vertex) in this obstacle
cvLeft	is to be avoided to the left (clockwise).

References aob, aPos, avoidLeft, UPolygon::getPoint(), and UAvoidObst::obst.

Referenced by UAvoidPath2::createPointList().

void UAvoidPoint::setTurnCentreFromMidPose	(	double	turnCentreRadius,
		bool	cvLeft
	)

Set turn centre from already set mid-pose, but use specified direction. Sets heading of turn-centre to point towards mid-pose.

Parameters

turnCentreRadius	is distance from mid-point to turn centre.
cvLeft	if the direction to turn (true is CV (to avoid an obstacle to the left) and false is CCV)

References UPose::getPoseToMapPose(), mCent, and mid.

Referenced by UAvoidPath2::createMidPathPoints(), and isFreeSpace().

void UAvoidPoint::setTurnCentreFromMidPose ( double turnCentreRadius )

Set turn centre from already set mid-pose. Sets heading of turn-centre to point towards mid-pose.

Parameters

turnCentreRadius is distance from mid-point to turn centre.

References avoidLeft, UPose::getPoseToMapPose(), mCent, and mid.

bool UAvoidPoint::tPointVisible	(	bool *	knifeOpening = `NULL`,
		bool *	opposingFirst = `NULL`
	)

Is the t-point visible from previous position.

Parameters

knifeOpening	is set to true if narrow passage is a vertex at both sides. tPos is the same vertex as the aPosition.
opposingFirst	is set trur if the opposing obstacle closer to previous point than the current obstacle point.

Returns: true if visible - i.e. facing the surface of the obstacle point, else false, i.e. the tPoint is hidden behind the visibility line from previous point.

References aPos, avoidLeft, bool2str(), U2Dlined::distanceSigned(), U2Dseg::getFirstEnd(), U2Dseg::getOtherEnd(), U2Dseg::getPositionOnLine(), U2Dseg::length, oPos, oVertex, prev, U2Dseg::setFromPoints(), tPos, tVertex, U2Dpos::x, UPosition::x, U2Dpos::y, and UPosition::y.

Referenced by UAvoidPath2::createMidPathPoints(), and isFreeSpace().

UAvoidPoint * UAvoidPoint::unlinkNext ( )

Unlink the next point.

Returns: a pointer to the released point.

References next, prev, and setAngNext().

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), and isFreeSpace().

Member Data Documentation

double UAvoidPoint::angNext

Angle to next point

Referenced by UAvoidPath2::createPointList(), UAvoidPath2::insertNewPointAfter(), setAngNext(), and UAvoidPath2::setTurnCentre().

UAvoidObst* UAvoidPoint::aob

Related obstacle

Referenced by UAvoidPath2::avoidToTheLeft(), UAvoidPath2::createAvoidPoinsPath(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::createPointList(), setAvoidObst(), UAvoidPath2::setClosestPoint(), UAvoidPath2::toReplaceOldPoint(), and UAvoidPoint().

bool UAvoidPoint::avoidLeft

Radius of safe distance circle Avoid point is to be avoided to the left

Referenced by UAvoidPath2::avoidToTheLeft(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createAvoidPoinsPath(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::createPointList(), UAvoidPath2::extendManoeuvre(), UAvoidPath2::insertNewPointAfter(), setAvoidObst(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setMidPoint(), UAvoidPath2::setPreStopPoint(), UAvoidPath2::setTurnCentre(), setTurnCentreFromMidPose(), tPointVisible(), UAvoidPath2::turnCentreCrossing(), UAvoidPoint(), and UAvoidPath2::validNewClosePoint().

bool UAvoidPoint::followLineLastPose

Attempt to use follow line on last pose

Referenced by UAvoidPath2::createMidPathPoints(), UAvoidPath2::createPointList(), UAvoidPath2::setMidPoint(), and UAvoidPoint().

int UAvoidPoint::generation

In which generation of the creation process was this point created.

Referenced by UAvoidPath2::convertToManSeq(), UAvoidPath2::createAvoidPoinsPath(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::setPreStopPoint(), and UAvoidPoint().

UPose UAvoidPoint::mCent

Center for manoeuvre circle for this obstacle point

Referenced by clear(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::insertNewPointAfter(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::setMidPoint(), UAvoidPath2::setPreStopPoint(), UAvoidPath2::setTurnCentre(), setTurnCentreFromMidPose(), and UAvoidPath2::turnCentreCrossing().

UPose UAvoidPoint::mid

mid poses are

Midpose(s) evaluated for this avoid point

Referenced by UAvoidPath2::avoidToTheLeft(), clear(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::extendManoeuvre(), UAvoidPath2::insertNewPointAfter(), UAvoidPath2::isAfterDestination(), printPoses(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::setMidPoint(), UAvoidPath2::setPreStopPoint(), setTurnCentreFromMidPose(), and UAvoidPath2::validNewClosePoint().

int UAvoidPoint::midCnt

Number of evaluated mid-poses

Referenced by clear().

UAvoidPoint* UAvoidPoint::next

Link to next in sequence

Referenced by clear(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createAvoidPoinsPath(), UAvoidPath2::createCellBasedPointList(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::extendManoeuvre(), UAvoidPath2::getEmptyPoint(), insertAfter(), UAvoidPath2::recyclePoint(), UAvoidPath2::recyclePoints(), UFunctionAvoid::sendCurrentAvoidPath(), setAngNext(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setMidPoint(), UAvoidPath2::setTurnCentre(), UAvoidPath2::toReplaceOldPoint(), unlinkNext(), and UAvoidPath2::validNewClosePoint().

UAvoidObst* UAvoidPoint::oob

Closest obstacle (if any) within 2xradius (Other obstacle)

Referenced by clear(), UAvoidPath2::createMidPathPoints(), isFreeSpace(), isTight(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::setClosestPoint(), and UAvoidPath2::validNewClosePoint().

double UAvoidPoint::oobDist

Distance to closest (other) obstacle

Referenced by UAvoidPath2::setClosestPoint().

UPosition UAvoidPoint::oPos

Closest position on other obstacle

Referenced by clear(), UAvoidPath2::createMidPathPoints(), printPoses(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setTurnCentre(), tPointVisible(), and UAvoidPath2::validNewClosePoint().

double UAvoidPoint::otDist

The distance from oPos to tPos

Referenced by UAvoidPath2::createMidPathPoints(), UAvoidPath2::setClosestPoint(), and UAvoidPath2::setTurnCentre().

bool UAvoidPoint::oVertex

Is the point at the other obstacle a vertex

Referenced by UAvoidPath2::setClosestPoint(), and tPointVisible().

bool UAvoidPoint::prePoint

is this a prepoint, ahead of a tight passage. this may lead to speciat treatment, e.g. turn centre has a special calculateion and is not to be recalculated.

Referenced by clear(), UAvoidPath2::convertToManSeq(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setMidPoint(), UAvoidPath2::setPreStopPoint(), UAvoidPath2::setTurnCentre(), and UAvoidPath2::toReplaceOldPoint().