speed_planner.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_SPEED_PLANNER_H
#define CAJUN_SPEED_PLANNER_H

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

namespace cajun
{
        class speed_planner_t
        {
        private:
                double m_suggested_deceleration;

                double m_max_acceleration;
                double m_max_deceleration;

                double m_pause_deceleration;
                bool m_already_paused;
                double m_tstamp_when_paused;
                double m_speed_when_paused;
                double m_speed_look_ahead_time;

                double m_LA_time; //seconds
        public:
                speed_planner_t (const conf_t &conf);
                ~speed_planner_t ();
                double desired_speed (double tstamp, double present_speed,
                                      double safety_speed_limit,
                                      uniform_path_t &path, int goal_index,
                                      double bx, double by,
                                      double &desired_speed_rate,
                                      bool pause);
                void set_consistent_speed_limits (uniform_path_t &path);

        private:
                double safe_approach_speed (double present_speed,
                                            double distance_between_points);
                double next_lower_speed (double min_speed,
                                         double present_speed);
                bool read_config (const conf_t &conf);
                double speed_at_LA_point (double pres_speed, double bx,
                                          double by,
                                          uniform_path_t &path,
                                          int goal_index, int &v_gi);
                void compute_speed_rate (double target_speed,
                                         double present_speed,
                                         double &desired_speed_rate);
                double speed_at_point (uniform_path_t &path, int goal_index,
                                       double x_, double y_);
                void compute_LA_point (double LA_dis, double pres_x,
                                       double pres_y,
                                       uniform_path_t &path, unsigned gi,
                                       double &LA_x, double &LA_y,
                                       int &LA_gi);
        };
};



#endif

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