cajun Namespace Reference

Classes
class	base_path_interpolator_t
class	base_steering_t
class	drive_t
class	ftc_guide_t
	Provides instantaneous drive point which is certain distance away on the path from the bot's projected position onto the path. More...
class	guide_mode_t
	Abstract base class for providing guide data (heading error, desired_heading, etc). More...
class	linear_interpolator_t
class	safe_speed_advisor_t
	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...
class	speed_planner_t
class	spline_interpolator_t
class	steering_leadlag_v1_t
class	steering_leadlag_v2_t
class	steering_pid_v1_t
class	steering_pid_v2_t
class	base_throttle_t
class	throttle_v1_t
class	throttle_v2_t
class	throttle_v3_t
struct	waypoint_t
class	vs_guide_t
	Provides instantaneous drive point which is certain distance away on the path from the bot's projected position onto the path. More...
Typedefs
typedef std::vector< waypoint_t >	uniform_path_t
Functions
bool	waypoint_reached (uniform_path_t &path_, unsigned path_i, double bx, double by, double min_dis_to_reach_wp)
	Determines if a waypoint is reached based on if the bot has crossed or touched the perpendicular line to the path at this waypoint.
int	next_goal_to_drive_to (double tstamp, uniform_path_t &path_, double bx, double by, double &dis_to_goal, double min_dis_to_reach_wp)
	Returns the index to the waypoint in the the input m_path that is next to be reached by the bot.

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Typedef Documentation

typedef std::vector<waypoint_t> cajun::uniform_path_t

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Function Documentation

int cajun::next_goal_to_drive_to	(	double	tstamp,
		uniform_path_t &	path_,
		double	bx,
		double	by,
		double &	dis_to_goal,
		double	min_dis_to_reach_wp
	)

Returns the index to the waypoint in the the input m_path that is next to be reached by the bot.

References waypoint_reached(), cajun::waypoint_t::x, and cajun::waypoint_t::y.

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

bool cajun::waypoint_reached	(	uniform_path_t &	path_,
		unsigned	path_i,
		double	bx,
		double	by,
		double	min_dis_to_reach_wp
	)

Determines if a waypoint is reached based on if the bot has crossed or touched the perpendicular line to the path at this waypoint.

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

Referenced by next_goal_to_drive_to().