cajun::ftc_guide_t Class Reference

Provides instantaneous drive point which is certain distance away on the path from the bot's projected position onto the path. More...

#include <ftc_guide.H>

Inheritance diagram for cajun::ftc_guide_t:

List of all members.

Public Member Functions
	ftc_guide_t (const conf_t &conf)
void	guide (guide_data_t &gd, const uniform_path_t &goal_data, unsigned goal_index, double x, double y, double heading, double speed, bool valid_path, bool forward, bool tight_path, double tstamp)
Private Member Functions
bool	read_conf (const conf_t &conf)
void	get_drive_point_position (waypoint_t &goal_wp)
bool	can_look_beyond_wp (const uniform_path_t &goal_data, unsigned goal_index)
void	track_with_drive_point (double look_ahead_distance, const uniform_path_t &goal_data, unsigned &goal_index, double x, double y, double &distance_from_next_wp, double heading)
	Determines the drive point on the input path (goal_data) which is at a distance 'look_head_distance' ahead of given point (x,y). The drive point is provided as the track on which the drive point is lies and distance from the end point of the track segment.
void	get_drive_point (waypoint_t &goal_wp, waypoint_t next_path_wp, double distance_from_next_wp)
	Given the drive point in terms of distance (distance_from_next_wp) from a specified waypoint (next_path_wp), the function sets the coordinates of the goal_wp point to point to this drive point.
Private Attributes
double	m_look_ahead_time
double	m_min_LH_distance
double	m_max_LH_distance
bool	m_selective_rounding

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Detailed Description

Provides instantaneous drive point which is certain distance away on the path from the bot's projected position onto the path.

The drive point and bot's position is used to compute parameters like 'desired_heading', 'heading_error', etc

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Constructor & Destructor Documentation

cajun::ftc_guide_t::ftc_guide_t

(

const conf_t &

conf

)

[inline]

References read_conf().

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Member Function Documentation

bool cajun::ftc_guide_t::can_look_beyond_wp	(	const uniform_path_t &	goal_data,
		unsigned	goal_index
	)			[private]

void ftc_guide_t::get_drive_point	(	waypoint_t &	goal_wp,
		waypoint_t	next_path_wp,
		double	distance_from_next_wp
	)			[private]

Given the drive point in terms of distance (distance_from_next_wp) from a specified waypoint (next_path_wp), the function sets the coordinates of the goal_wp point to point to this drive point.

References cajun::waypoint_t::azimuth, cajun::waypoint_t::x, and cajun::waypoint_t::y.

Referenced by guide().

void cajun::ftc_guide_t::get_drive_point_position

(

waypoint_t &

goal_wp

)

[private]

void ftc_guide_t::guide	(	guide_data_t &	gd,
		const uniform_path_t &	goal_data,
		unsigned	goal_index,
		double	x,
		double	y,
		double	heading,
		double	speed,
		bool	valid_path,
		bool	forward,
		bool	tight_path,
		double	tstamp
	)			[virtual]

Implements cajun::guide_mode_t.

References cajun::guide_mode_t::compute_guide_values(), get_drive_point(), m_look_ahead_time, m_max_LH_distance, m_min_LH_distance, cajun::guide_mode_t::set_default_guide_values(), and track_with_drive_point().

bool ftc_guide_t::read_conf

(

const conf_t &

conf

)

[private]

References m_look_ahead_time, m_max_LH_distance, and m_min_LH_distance.

Referenced by ftc_guide_t().

void ftc_guide_t::track_with_drive_point	(	double	look_ahead_distance,
		const uniform_path_t &	goal_data,
		unsigned &	goal_index,
		double	x,
		double	y,
		double &	distance_from_next_wp,
		double	heading
	)			[private]

Determines the drive point on the input path (goal_data) which is at a distance 'look_head_distance' ahead of given point (x,y). The drive point is provided as the track on which the drive point is lies and distance from the end point of the track segment.

Referenced by guide().

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Member Data Documentation

double cajun::ftc_guide_t::m_look_ahead_time [private]

Referenced by guide(), and read_conf().

double cajun::ftc_guide_t::m_max_LH_distance [private]

Referenced by guide(), and read_conf().

double cajun::ftc_guide_t::m_min_LH_distance [private]

Referenced by guide(), and read_conf().

bool cajun::ftc_guide_t::m_selective_rounding [private]

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

• ftc_guide.H
• ftc_guide.C