cajun::safe_speed_advisor_t Class Reference

This class provides safe speed limit for the vehicle based: -- on present behavior of the vehicle -- max speed for heading error -- max relative increase in speed for present heading error -- max relative increase in speed for present turning rate -- delay in path planner's path -- config track speed limit. More...

#include <safe_speed_advisor.H>

List of all members.

Classes
struct	interp_entry_t
struct	speed_for_delay_t
Public Member Functions
	safe_speed_advisor_t (const conf_t &steering_conf)
double	max_speed_limit (double tstamp_, double speed_, double heading_, double path_delay, int goal_index, guide_data_t gd_)
	Retuns the max safe speed that system can try to achieve in present situation, the conditions checked are listed in class description.
void	set_safe_path_speeds (uniform_path_t &path, bool quick_acceleration_)
double	path_timeout_for_pause ()
	return timeout for path delay to pause the vehicle
Private Member Functions
bool	read_conf (const conf_t &steering_conf)
double	speed_at_orientation_diff (double orient_diff)
	Returns safe speed for the vehicle when trying to cover up a orientation error.
double	suggested_speed_for_cbln_delay (double cbln_delay_)
	Returns safe speed when the path being followed is 'cbln_delay' older. This is will be useful when path planner is taking more time to compute the path, which means that reaction time of the system as increased hence better to go at lower speed.
double	interpolate_value (std::vector< interp_entry_t > &table_, double value_)
double	relative_speed_at_heading_error (double h_error_)
	Returns max increase in the speed that the system can achieve when trying to clear up 'h_error_' heading error.
double	relative_speed_at_heading_rate (double tstamp_, double h_)
	Returns max increase in the speed that the system can achieve when turning at present rate.
double	safe_approach_speed (double waypoint_speed, double dis_between_points, double suggested_deceleration)
void	set_consistent_speed_limits (uniform_path_t &path, bool quick_acceleration_)
	Make sure speed limits of adjacent wps of the path are consistent (reachable).
void	set_consistent_speed (uniform_path_t &path_, unsigned path_id_, unsigned ref_id_, double suggested_deceleration)
double	orient_at_path (uniform_path_t &path, unsigned ind)
	returns orientation of the path at path[ind]
void	set_turn_path_speeds (uniform_path_t &path)
	Set turn speed at each point on the path based on the change in the orientation of path from that point to some distance infront of it along the path.
unsigned	LA_path_index (uniform_path_t &path, unsigned ind, double dis_)
double	speed_limit_for_orient_change (double orient_diff)
Private Attributes
std::vector< speed_for_delay_t >	m_speed_for_delay
std::vector< interp_entry_t >	m_path_turn_speeds
std::vector< interp_entry_t >	m_heading_error_speed_limit
std::vector< interp_entry_t >	m_heading_rate_speed_limit
std::vector< double >	m_turn_speed
heading_data_t	m_heading [2]
double	m_config_track_speed
double	m_suggested_deceleration
double	m_suggested_acceleration
double	m_suggested_high_acceleration
double	m_path_speed_LAD

Detailed Description

This class provides safe speed limit for the vehicle based: -- on present behavior of the vehicle -- max speed for heading error -- max relative increase in speed for present heading error -- max relative increase in speed for present turning rate -- delay in path planner's path -- config track speed limit.

TODO: Set the speed limit for the path based on its radius of curveture of the road Move the code for setting consistent speed limit between wp of the path here

Constructor & Destructor Documentation

safe_speed_advisor_t::safe_speed_advisor_t ( const conf_t & steering_conf )

References m_heading, and read_conf().

Member Function Documentation

double cajun::safe_speed_advisor_t::interpolate_value	(	std::vector< interp_entry_t > &	table_,
		double	value_
	)			`[private]`

Referenced by relative_speed_at_heading_error(), relative_speed_at_heading_rate(), and speed_limit_for_orient_change().

unsigned safe_speed_advisor_t::LA_path_index	(	uniform_path_t &	path,
		unsigned	ind,
		double	dis_
	)			`[private]`

Referenced by set_turn_path_speeds().

double safe_speed_advisor_t::max_speed_limit	(	double	tstamp_,
		double	speed_,
		double	heading_,
		double	path_delay,
		int	goal_index,
		guide_data_t	gd_
	)

Retuns the max safe speed that system can try to achieve in present situation, the conditions checked are listed in class description.

References m_config_track_speed, relative_speed_at_heading_error(), relative_speed_at_heading_rate(), speed_at_orientation_diff(), and suggested_speed_for_cbln_delay().

Referenced by cajun::drive_t::drive_the_bot().

double safe_speed_advisor_t::orient_at_path	(	uniform_path_t &	path,
		unsigned	ind
	)			`[private]`

returns orientation of the path at path[ind]

Referenced by set_turn_path_speeds().

double safe_speed_advisor_t::path_timeout_for_pause ( )

return timeout for path delay to pause the vehicle

Returns the timeout so that vehicle can be paused if the last input path is older than this time.

References m_speed_for_delay.

Referenced by cajun::drive_t::drive_t().

bool safe_speed_advisor_t::read_conf ( const conf_t & steering_conf ) [private]

References D2R, m_config_track_speed, m_heading_error_speed_limit, m_heading_rate_speed_limit, m_path_speed_LAD, m_path_turn_speeds, m_speed_for_delay, m_suggested_acceleration, m_suggested_deceleration, m_suggested_high_acceleration, and m_turn_speed.

Referenced by safe_speed_advisor_t().

double safe_speed_advisor_t::relative_speed_at_heading_error ( double h_error_ ) [private]

Returns max increase in the speed that the system can achieve when trying to clear up 'h_error_' heading error.

References interpolate_value(), and m_heading_error_speed_limit.

Referenced by max_speed_limit().

double safe_speed_advisor_t::relative_speed_at_heading_rate	(	double	tstamp_,
		double	h_
	)			`[private]`

Returns max increase in the speed that the system can achieve when turning at present rate.

References interpolate_value(), m_heading, and m_heading_rate_speed_limit.

Referenced by max_speed_limit().

double safe_speed_advisor_t::safe_approach_speed	(	double	waypoint_speed,
		double	dis_between_points,
		double	suggested_deceleration
	)			`[private]`

Referenced by set_consistent_speed().

void safe_speed_advisor_t::set_consistent_speed	(	uniform_path_t &	path_,
		unsigned	path_id_,
		unsigned	ref_id_,
		double	suggested_deceleration
	)			`[private]`

References safe_approach_speed().

Referenced by set_consistent_speed_limits().

void safe_speed_advisor_t::set_consistent_speed_limits	(	uniform_path_t &	path,
		bool	quick_acceleration_
	)			`[private]`

Make sure speed limits of adjacent wps of the path are consistent (reachable).

References m_suggested_acceleration, m_suggested_deceleration, m_suggested_high_acceleration, and set_consistent_speed().

Referenced by set_safe_path_speeds().

void safe_speed_advisor_t::set_safe_path_speeds	(	uniform_path_t &	path,
		bool	quick_acceleration_
	)

References set_consistent_speed_limits(), and set_turn_path_speeds().

Referenced by cajun::drive_t::drive_the_bot().

void safe_speed_advisor_t::set_turn_path_speeds ( uniform_path_t & path ) [private]

Set turn speed at each point on the path based on the change in the orientation of path from that point to some distance infront of it along the path.

References LA_path_index(), m_path_speed_LAD, orient_at_path(), and speed_limit_for_orient_change().

Referenced by set_safe_path_speeds().

double safe_speed_advisor_t::speed_at_orientation_diff ( double orient_diff ) [private]

Returns safe speed for the vehicle when trying to cover up a orientation error.

References m_turn_speed.

Referenced by max_speed_limit().

double safe_speed_advisor_t::speed_limit_for_orient_change ( double orient_diff ) [private]

References interpolate_value(), and m_path_turn_speeds.

Referenced by set_turn_path_speeds().

double safe_speed_advisor_t::suggested_speed_for_cbln_delay ( double cbln_delay_ ) [private]

Returns safe speed when the path being followed is 'cbln_delay' older. This is will be useful when path planner is taking more time to compute the path, which means that reaction time of the system as increased hence better to go at lower speed.

References m_speed_for_delay.

Referenced by max_speed_limit().