uc_util: interp_rndf.H Source File

00001 #ifndef CAJUN_INTERP_RNDF_H
00002 #define CAJUN_INTERP_RNDF_H
00003 
00004 #include "data_type.H"
00005 #include "base_interpolator.H"
00006 #include "rndf.H"
00007 #include <queue>
00008 
00009 namespace cajun
00010 {
00011         void add_base_point ( rndf_t const *rndf_,
00012                               base_interpolator_t::uniform_path_t &base_points_,
00013                               rndf_t::waypoint_id_t const &start_id_,
00014                               rndf_t::waypoint_id_t const &end_id_, double dis_);
00015 //      void add_base_point_for_intersection (
00016 //              rndf_t const *rndf_,
00017 //              base_interpolator_t::uniform_path_t &base_points_,
00018 //              rndf_t::waypoint_id_t const &start_id_,
00019 //              rndf_t::waypoint_id_t const &end_id_, double dis_);
00020 
00021 //      void add_base_point_for_lane (
00022 //              rndf_t const *rndf_,
00023 //              base_interpolator_t::uniform_path_t &base_points_,
00024 //              rndf_t::waypoint_id_t const &start_id_,
00025 //              rndf_t::waypoint_id_t const &end_id_, double dis_);
00026 
00027         void interp_for_wp_pair (rndf_t const *rndf_,
00028                                  base_interpolator_t *interp_,
00029                                  rndf_t::waypoint_id_t const &start_id,
00030                                  rndf_t::waypoint_id_t const &end_id,
00031                                  rndf_lane_data_t &lane_data_);
00032 
00033         void interp_from_wp (rndf_t const *rndf_,
00034                              base_interpolator_t *interp_,
00035                              std::vector<rndf_lane_data_t> &lane_list_,
00036                              rndf_t::waypoint_id_t wp_id);
00037 
00038         void interp_wp_from_zones (rndf_t const *rndf_,
00039                                    base_interpolator_t *interp_,
00040                                    std::vector<rndf_lane_data_t> &lane_list_,
00041                                    rndf_t::waypoint_id_t exit_wp_id);
00042 
00043         void interp_all_wp_segments (rndf_t const *rndf_,
00044                                      base_interpolator_t *interp_,
00045                                      std::vector<rndf_lane_data_t> &lane_list_);
00046 
00047 
00048         void interp_intersection (rndf_t const *rnfd_,
00049                                   base_interpolator_t *interp_,
00050                                   rndf_t::waypoint_id_t const &start_id,
00051                                   rndf_t::waypoint_id_t const &end_id,
00052                                   rndf_lane_data_t &lane_data_);
00053 
00054         void add_arc_points (rndf_lane_data_t &lane_data_,
00055                              double bx, double by,
00056                              double cx, double cy, double rad,
00057                              double start_ang, double end_ang);
00058         void add_arc_points (std::deque<path_wp_t> &path_,
00059                              double cx, double cy, double rad,
00060                              double start_ang, double end_ang,
00061                              double min_speed_, double max_speed_);
00062         void add_linear_points (rndf_lane_data_t &lane_data_,
00063                                 double bx, double by,
00064                                 double start_x, double start_y,
00065                                 double end_x, double end_y,
00066                                 base_interpolator_t *interp_);
00067         void add_linear_points (std::deque <path_wp_t> &path_,
00068                                 double start_x, double start_y,
00069                                 double end_x, double end_y,
00070                                 base_interpolator_t *interp_,
00071                                 double min_speed_, double max_speed_);
00072         double compute_radius (double p1x, double p1y, double ang_1,
00073                                double p2x, double p2y, double ang_2);
00074         void compute_start_end_ang (double const start_tangent_,
00075                                     double const end_tangent_,
00076                                     double &start_ang_, double &end_ang_);
00077         void fill_initial_values (rndf_lane_data_t &lane_data_,
00078                                   rndf_t::waypoint_id_t const &start_id_,
00079                                   rndf_t::waypoint_id_t const &end_id_,
00080                                   double bx, double by);
00081 
00082         void extended_intersection_points (
00083                 rndf_t const *rndf_,
00084                 rndf_t::waypoint_id_t const &start_id_,
00085                 rndf_t::waypoint_id_t const &end_id_,
00086                 double &sx, double &sy, double &ex, double &ey);
00087 };
00088 
00089 #endif