scan_analysis_driver.C File Reference

#include <sched.h>
#include <unistd.h>
#include <stdio.h>
#include <csignal>
#include "queue_generator.H"
#include "conf.H"
#include <getopt.h>
#include "discontinuity.H"
#include "route_discontinuity.H"
#include "route.H"
#include "dummy_obstacles.H"
#include "grid_slope.H"
#include "grid_slope_no_z.H"
#include "cbmesg_logger.H"
#include "cb_time.H"

Functions
void	sig_handler (int sig)
bool	read_config (char const *config_filename, bool sick_status[])
unsigned	find_num_sensors (bool sick_status[])
void	get_scan_gp_ids (unsigned num_sicks, bool sick_status[], unsigned scan_gp_ids[])
int	main (int argc, char **argv)
Variables
cbmesg_logger_t	msg_logger
char const *	progname
unsigned	num_scan_analysis_queues = 0
unsigned	algo_type
unsigned	triangles_per_beam
double	min_len = 0.1
double	max_len = 0.4
unsigned	ver_per_cell = 10
unsigned	max_vec_len = 45
bool	die = false
unsigned	MAX_SENSORS = 10
double	REFRESH_RATE = 2.0
bool	use_z_2_form_triangles = true
double	gps_z_error_threshold = 3.0
double	gps_garbage_look_ahead_time = 1.0
route_t	route
char *	route_file = NULL
char *	obst_file = NULL
data_queue_reader_t< sog_data_t > *	sog_reader = NULL
data_queue_writer_t < scan_analysis_data_t > *	scan_analysis_writer = NULL
data_queue_writer_t < scan_analysis_data_t > *	scan_analysis_writer_b = NULL
data_queue_writer_t < triangle_data_t > *	tri_writer = NULL
data_queue_reader_t< nav_data_t > *	nav_reader = NULL
data_queue_reader_t < waypt_data_t > *	waypt_reader = NULL

---

Function Documentation

unsigned find_num_sensors

(

bool

sick_status[]

)

References MAX_SENSORS.

Referenced by main().

void get_scan_gp_ids	(	unsigned	num_sicks,
		bool	sick_status[],
		unsigned	scan_gp_ids[]
	)

References MAX_SENSORS.

Referenced by main().

int main	(	int	argc,
		char **	argv
	)

References cajun::route_discontinuity_t::add_scan(), cajun::discontinuity_t::add_scan(), cajun::dummy_obstacles_t::add_scan(), algo_type, die, find_num_sensors(), cajun::grid_slope_t::get_free_db_entry(), get_scan_gp_ids(), gps_garbage_look_ahead_time, gps_z_error_threshold, max_len, MAX_SENSORS, max_vec_len, min_len, msg_logger, nav_reader, num_scan_analysis_queues, obst_file, cajun::grid_slope_t::process_new_db_entry(), progname, read_config(), REFRESH_RATE, route_file, scan_analysis_writer, scan_analysis_writer_b, SCANS_PER_SEC, sig_handler(), tri_writer, triangles_per_beam, use_z_2_form_triangles, ver_per_cell, and waypt_reader.

bool read_config	(	char const *	config_filename,
		bool	sick_status[]
	)

References algo_type, gps_garbage_look_ahead_time, gps_z_error_threshold, max_len, max_vec_len, min_len, num_scan_analysis_queues, REFRESH_RATE, triangles_per_beam, use_z_2_form_triangles, and ver_per_cell.

Referenced by main().

void sig_handler

(

int

sig

)

References die.

Referenced by main().

---

Variable Documentation

unsigned algo_type

Referenced by main(), and read_config().

bool die = false

Referenced by main(), and sig_handler().

double gps_garbage_look_ahead_time = 1.0

Referenced by main(), and read_config().

double gps_z_error_threshold = 3.0

Referenced by main(), and read_config().

double max_len = 0.4

Referenced by main(), and read_config().

unsigned MAX_SENSORS = 10

Referenced by find_num_sensors(), get_scan_gp_ids(), and main().

unsigned max_vec_len = 45

Referenced by cajun::grid_slope_no_z_t::find_eligible_vertices(), cajun::grid_slope_t::find_eligible_vertices(), main(), and read_config().

double min_len = 0.1

Referenced by main(), and read_config().

cbmesg_logger_t msg_logger

Referenced by main().

data_queue_reader_t<nav_data_t>* nav_reader = NULL

Referenced by main().

unsigned num_scan_analysis_queues = 0

Referenced by main(), and read_config().

char* obst_file = NULL

Referenced by main().

char const* progname

Referenced by main().

double REFRESH_RATE = 2.0

Referenced by main(), and read_config().

route_t route

char* route_file = NULL

Referenced by main().

data_queue_writer_t<scan_analysis_data_t>* scan_analysis_writer = NULL

Referenced by main().

data_queue_writer_t<scan_analysis_data_t>* scan_analysis_writer_b = NULL

Referenced by main().

data_queue_reader_t<sog_data_t>* sog_reader = NULL

data_queue_writer_t<triangle_data_t>* tri_writer = NULL

Referenced by main().

unsigned triangles_per_beam

Referenced by main(), and read_config().

bool use_z_2_form_triangles = true

Referenced by main(), and read_config().

unsigned ver_per_cell = 10

Referenced by cajun::grid_slope_no_z_t::find_eligible_vertices(), cajun::grid_slope_t::find_eligible_vertices(), main(), and read_config().

data_queue_reader_t<waypt_data_t>* waypt_reader = NULL

Referenced by main().