#include <ureactivepath.h>

Inheritance diagram for UAvoidPathPool:

Public Member Functions
UReactivePath *	findPathToHere (UPoseV exitPose, UReacObstGrps obsts, UReacRoadLines roads, bool ignoreObstacles, bool directTestOnly, bool driveon, double turnRad)

UAvoidPath2 *	findPathToHere2 (UPoseV exitPose, UReacObstGrps obsts, UReacRoadLines roads, bool ignoreObstacles, bool debugDump)

UAvoidPath2 *	getAvoidPath (int index)

int	getAvoidPathsCnt ()

bool	getCrashTest ()

double	getMaxAcc ()

int	getMaxAvoidLoops ()

int	getMaxNestedLevels ()

int	getMaxSpawnCnt ()

double	getMaxTurnAcc ()

double	getMinTurnRad ()

UAvoidPath2 *	getNewAvoidPath ()

UReactivePath *	getNewPath ()

double	getObstMinDist ()

double	getObstMinMinDist ()

UAvoidParams *	getParamStruct ()

UReactivePath *	getPath (int index)

int	getPathsCnt ()

UPose	getStartPose ()

UPoseV	getStartPoseVel ()

int	getValidAvoidPathsCnt ()

int	getValidPathsCnt ()

void	setAvoidSerial (int serial)

void	setDistanceLimits (double minDist, double minMinDist)

void	setFrontLeft (UPosition value)

void	setFrontRight (UPosition value)

void	setStartPose (UPose pose, double velocity)

	UAvoidPathPool ()

	~UAvoidPathPool ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Attributes
UAvoidParams	par

Protected Attributes
UAvoidPath2	avoidPaths [MAX_PATHS_IN_POOL]

int	avoidPathsCnt

int	pathBest

UReactivePath	paths [MAX_PATHS_IN_POOL]

int	pathsCnt

Static Protected Attributes
static const int	MAX_PATHS_IN_POOL = 20

Detailed Description

UAvoidPathPool holds an array of path alternatives and the functionality to select one of these as the best choice.

Constructor & Destructor Documentation

UAvoidPathPool::UAvoidPathPool ( )

Constructor

UAvoidPathPool::~UAvoidPathPool ( )

Destructor

Member Function Documentation

UReactivePath * UAvoidPathPool::findPathToHere	(	UPoseV	exitPose,
		UReacObstGrps *	obsts,
		UReacRoadLines *	roads,
		bool	ignoreObstacles,
		bool	directTestOnly,
		bool	driveon,
		double	turnRad
	)

Find path to this destination, avoiding obstacles and road edges

Parameters

directTestOnly	test only
driveon	when true, replaces the pose destination with a line destination - as the drive and driveon commands.
turnRad	is the drive-on turn radius

Returns: pointer to OK path or NULL if none

References UReactivePath::clear(), UReactivePath::findObstAvoidRoute(), UReactivePath::getManSeq(), UReactivePath::getManTime(), UReactivePath::isACrash(), UReactivePath::isValid(), ULock::lock(), UReactivePath::setExitPose(), and UReactivePath::setPathUsed().

Referenced by UResAvoid::findPathToHere().

UAvoidPath2 * UAvoidPathPool::findPathToHere2	(	UPoseV	exitPose,
		UReacObstGrps *	obsts,
		UReacRoadLines *	roads,
		bool	ignoreObstacles,
		bool	debugDump
	)

Find path to this destination, avoiding obstacles (and road edges) using a new method more directly based on visibility graph (simplified)

Parameters

debugDump is a flag, that will generate some data-dump to logfile (if open).

References UAvoidPath2::clear(), UAvoidPath2::findObstAvoidRoute(), UReacObstGrps::getGroup(), UReacObstGrps::getGroupsCnt(), UAvoidPath2::getManSeq(), UAvoidPath2::isACrash(), UAvoidPath2::isValid(), ULock::lock(), UAvoidPath2::setPar(), UAvoidPath2::setPathUsed(), and UAvoidPath2::setValid().

Referenced by UResAvoid::findPathToHere().

UAvoidPath2* UAvoidPathPool::getAvoidPath ( int index )

inline

Get specific (rev2) path. (NB! no range check)

Referenced by UFunctionAvoid::sendCurrentAvoidPath().

int UAvoidPathPool::getAvoidPathsCnt ( )

inline

Get number of calculated (rev2) paths

Referenced by UFunctionAvoid::sendCurrentAvoidPath().

bool UAvoidPathPool::getCrashTest ( )

inline

Is crashed paths to survive for analysis

Referenced by UReactivePath::avoidObst(), and UReactivePath::findObstAvoidRoute().

double UAvoidPathPool::getMaxAcc ( )

inline

Set other limiting parameters for the path evaluation. Units are in SI units (meter and sec) Get max lateral acceleration

Referenced by UReactivePath::findObstAvoidRoute().

int UAvoidPathPool::getMaxAvoidLoops ( )

inline

Get max obstacle avoidance loops when finding new mid-poses

Referenced by UReactivePath::avoidObst().

int UAvoidPathPool::getMaxNestedLevels ( )

inline

Get max nested levels when searching a path left and right around obstacles

Referenced by UReactivePath::avoidObst().

int UAvoidPathPool::getMaxSpawnCnt ( )

inline

Get max spawnned paths when searching for an obstacle avoidance path

Referenced by UReactivePath::avoidObst().

double UAvoidPathPool::getMaxTurnAcc ( )

inline

Get max turn acceleration

Referenced by UReactivePath::findObstAvoidRoute().

double UAvoidPathPool::getMinTurnRad ( )

inline

Get minimum turn radius - fail manoeuvre if less is needed

Referenced by UReactivePath::findObstAvoidRoute().

UAvoidPath2 * UAvoidPathPool::getNewAvoidPath ( )

Get pointer to new unused UAvoidPathPool entry. A path may be used by e.g. implementation process. This function will then try the next available unlocked path entry. The path will be unlocked once implemented or discarded for other reasons.