safe_speed_advisor.H

Go to the documentation of this file.

// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda

#ifndef CAJUN_SAFETY_SPEED_CONTROLLER_H
#define CAJUN_SAFETY_SPEED_CONTROLLER_H

#include "conf.H"
#include "data_type.H"
#include "uniform_path.H"

#include <vector>

namespace cajun
{
class safe_speed_advisor_t
{
public:
        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_);
        void set_safe_path_speeds (uniform_path_t &path,
                                   bool quick_acceleration_);

        double path_timeout_for_pause ();
        struct interp_entry_t
        { // increasing order
                double range;
                double limit;
        };

        struct speed_for_delay_t
        {
                double delay; // In seconds
                double speed; // In meters/sec
        };
private:

        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;

        bool read_conf (const conf_t &steering_conf);
        double speed_at_orientation_diff (double orient_diff);
        double suggested_speed_for_cbln_delay (double cbln_delay_);
        double interpolate_value (std::vector <interp_entry_t> &table_,
                                  double value_);
        double relative_speed_at_heading_error (double h_error_);
        double relative_speed_at_heading_rate (double tstamp_, double h_);

        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_);
        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);
        void set_turn_path_speeds (uniform_path_t &path);
        unsigned LA_path_index (uniform_path_t &path, unsigned ind,
                                double dis_);
        double speed_limit_for_orient_change (double orient_diff);
};
};

#endif

---