cajun Namespace Reference

Classes
class	base_interpolator_t
class	blocked_lane_container_t
class	intersection_tracker_t
struct	point_t
class	lane_file_loader_t
struct	lane_cell_t
class	linear_interpolator_t
struct	radar_object_t
class	radar_data_collector_t
class	rndf_lane_container_t
class	rndf_lane_filter_t
class	spatial_to_lane_map_t
class	tstamp_buffering_t
class	func_t
class	world_state_t
Typedefs
typedef grid_t< lane_cell_t >	lane_grid_t
Functions
void	add_base_point (rndf_t const *rndf_, base_interpolator_t::uniform_path_t &base_points_, rndf_t::waypoint_id_t const &start_id_, rndf_t::waypoint_id_t const &end_id_, double dis_)
	Adds base_points one just after start wp (exit wp) at distance dis_ along the orientation of the exiting lane, and one just before end_wp (entry wp) at distance dis_ along the orientation of the new entry lane at end_wp.
void	interp_for_wp_pair (rndf_t const rndf_, base_interpolator_t interp_, rndf_t::waypoint_id_t const &start_id, rndf_t::waypoint_id_t const &end_id, rndf_lane_data_t &lane_data_)
	Generates lane boundary for lane segment start_id to end_id.
void	interp_from_wp (rndf_t const rndf_, base_interpolator_t interp_, std::vector< rndf_lane_data_t > &lane_list_, rndf_t::waypoint_id_t wp_id)
void	interp_wp_from_zones (rndf_t const rndf_, base_interpolator_t interp_, std::vector< rndf_lane_data_t > &lane_list_, rndf_t::waypoint_id_t exit_wp_id)
void	interp_all_wp_segments (rndf_t const rndf_, base_interpolator_t interp_, std::vector< rndf_lane_data_t > &lane_list_)
void	interp_intersection (rndf_t const rnfd_, base_interpolator_t interp_, rndf_t::waypoint_id_t const &start_id, rndf_t::waypoint_id_t const &end_id, rndf_lane_data_t &lane_data_)
void	add_arc_points (rndf_lane_data_t &lane_data_, double bx, double by, double cx, double cy, double rad, double start_ang, double end_ang)
	Add points along the arc with center (cx, cy), with starting angle 'start_ang' to 'end_ang' (from center of circle) to lane_data_. (bx, by) are base_x, base_y for lane_data_ structure. start_ang, end_ang and starting and ending angles of arch points wrt center of the circle.
void	add_arc_points (std::deque< path_wp_t > &path_, double cx, double cy, double rad, double start_ang, double end_ang, double min_speed_, double max_speed_)
void	add_linear_points (rndf_lane_data_t &lane_data_, double bx, double by, double start_x, double start_y, double end_x, double end_y, base_interpolator_t *interp_)
	Add points from (start_x, start_y) to (end_x, end_y) using interp_ interpolator and use (bx, by) as base_x, base_y for lane_data_.
void	add_linear_points (std::deque< path_wp_t > &path_, double start_x, double start_y, double end_x, double end_y, base_interpolator_t *interp_, double min_speed_, double max_speed_)
double	compute_radius (double p1x, double p1y, double ang_1, double p2x, double p2y, double ang_2)
	Compute radius of the circle that has line passing through (p1x, p1y) with slope ang_1 and lane passing through (p2x, p2y) with slope ang_2 both as tangents. And passing through point (p1x, p1y).
void	compute_start_end_ang (double const start_tangent_, double const end_tangent_, double &start_ang_, double &end_ang_)
	Compute start and end angles for circular arc from start tangent angle and end tangent, by deciding which side (right/left) will the arc drawn.
void	fill_initial_values (rndf_lane_data_t &lane_data_, rndf_t::waypoint_id_t const &start_id_, rndf_t::waypoint_id_t const &end_id_, double bx, double by)
	Fill in the initial values for lane_data.
void	extended_intersection_points (rndf_t const *rndf_, rndf_t::waypoint_id_t const &start_id_, rndf_t::waypoint_id_t const &end_id_, double &sx, double &sy, double &ex, double &ey)
	Adds base_points one just after start wp and before end wp along the orientation of line start_wp to end_wp and at distance dis_. Ideally adding base should be called if the both the wps on are on same lane, but for present function calling structure.
bool	circle_circle_intersection (double x0, double y0, double r0, double x1, double y1, double r1, double &xi, double &yi, double &xi_prime, double &yi_prime)
void	circle_start_end_angles (double center_x_, double center_y_, double x0_, double y0_, double x1_, double y1_, double &start_ang_, double &end_ang_)
bool	get_circle_arc_points (double center_x, double center_y, double curvature_, double distance_, double start_ang_, double end_ang_, std::vector< point_t > &arc_points_)
unsigned	find_boundary_index_after_point (rndf_lane_data_t const &lb_, unsigned start_ind_, double x_, double y_, double &lx_, double &ly_, double &dis_from_lane_, double dis_off_, double dis_before_=1, double dis_after_=1, bool debug=false)
	Returns index to the pt in lane boundary just FOLLOWING x_, y_. If point not within lane boundary, then returns lb's num_points + 1. (lx_, ly_) are position of the (x_, y_) on the lane.
bool	find_look_ahead_point (rndf_lane_data_t const &lb_, double x_, double y_, double &lad_, double &lx_, double &ly_, unsigned &wi_, double width_factor_)
bool	find_xtrack_from_lane (rndf_lane_data_t const &lb_, double x_, double y_, double width_factor_, double &xtrack_dis_)
bool	find_look_behind_point (rndf_lane_data_t const &lb_, double x_, double y_, double &lad_, double &lx_, double &ly_, unsigned &wi_, double width_factor_)
void	get_filename_for_wp_pair (unsigned start_sid, unsigned start_lid, unsigned start_wid, unsigned end_sid, unsigned end_lid, unsigned end_wid, std::string &filename_)
	Returns the filename for storing lane boundary for lane segment starting form given (si, li, wi) waypoint.
bool	get_linear_rndf_lanes (std::vector< rndf_lane_data_t > &lane_list_, rndf_t const *rndf_, double interp_dis_)
void	get_lane_from_files (std::vector< rndf_lane_data_t > &lane_list_, std::string lane_data_dir_, rndf_t const *rndf_, double interp_dis_)
bool	get_lanes_around (world_state_t *ws_, double x_, double y_, std::vector< rndf_lane_data_t > &lane_list, double rad_)
	Returns list of rndf lane boundary lane segments around given (x, y), within given radius rad_.
void	print_rndf_lane (rndf_lane_data_t const &lane_)
void	print_rndf_lane (std::vector< rndf_lane_data_t > const &lanes_)
void	classify_lanes (std::vector< rndf_lane_data_t > const &rndf_lanes_, std::vector< rndf_lane_data_t > &regular_lanes_, std::vector< rndf_lane_data_t > &intersection_lanes_)
bool	map_onto_rndf_lane (world_state_t *ws_, rndf_lane_data_t &lane_, double x_, double y_, double width_multiplier_, double bubble_rad_, double first_lane_seg_dis_before_, double dis_after_, double at_heading=INVALID_HEADING)
	Find the list of rndf lanes near x_,y_ and tries to map (x_,y_) on the these lanes and if successful returns true along with best fit rndf_lane.
bool	map_onto_classified_lanes (double x_, double y_, std::vector< rndf_lane_data_t > const &rndf_lanes_, rndf_lane_data_t &best_lane_, std::vector< unsigned > &all_lane_indexes_, double width_multiplier_, double dis_before_, double dis_after_, double at_heading_=INVALID_HEADING)
bool	map_onto_rndf_lane_from_lanes (world_state_t *ws_, unsigned sid_, std::vector< unsigned > const &lid_list, unsigned &best_lid_, unsigned &wid_, double x_, double y_, double width_multiplier_, double bubble_rad_, double dis_after_)
bool	map_onto_all_rndf_lane (world_state_t *ws_, std::vector< rndf_lane_data_t > &mapped_lane_list_, double x_, double y_, double width_multiplier_, double bubble_rad_, double dis_after_)
bool	map_onto_given_rndf_lanes (double x_, double y_, std::vector< rndf_lane_data_t > const &rndf_lanes_, rndf_lane_data_t &best_lane_, std::vector< unsigned > &all_lane_indexes_, double width_multiplier_, double dis_before_, double dis_after_, double at_heading=INVALID_HEADING)
bool	map_onto_rndf_lane_segment (world_state_t ws_, rndf_t const rndf_, double x_, double y_, unsigned sid_, unsigned lid_, unsigned &wid_, double max_dis_off_, double first_lane_dis_before_, double last_lane_dis_after_)
	maps xy on to a lane segment, returns TRUE if could map onto some lane segment on given lane, else return FALSE
double	distance_between_points (world_state_t *ws_, unsigned sid_, unsigned lid_, double x1_, double y1_, unsigned wid1_, double x2_, double y2_, unsigned wid2_)
double	dis_along_rndf_lane (rndf_lane_data_t const &lb_, unsigned si_, unsigned ei_)
	Returns distance between si and ei along the lane boundary.
double	rndf_lane_pre_dis (rndf_lane_data_t const &lb_, double first_lane_dis_before_)
double	rndf_lane_post_dis (rndf_lane_data_t const &lb_, rndf_t const *rndf_, double last_lane_dis_after_)
double	rndf_lane_heading_at (rndf_lane_data_t const &lb_, unsigned id_)
	Computes the orientation of the lane at given index of lane boundary data.
double	distance_along_lane (rndf_lane_data_t const &lb_, double x1_, double y1_, double x2_, double y2_, double width_factor_)
double	rndf_length_between (rndf_lane_data_t const &lb, unsigned start_i_, unsigned end_i_)

Typedef Documentation

typedef grid_t<lane_cell_t> cajun::lane_grid_t

Function Documentation

void cajun::add_arc_points	(	std::deque< path_wp_t > &	path_,
		double	cx,
		double	cy,
		double	rad,
		double	start_ang,
		double	end_ang,
		double	min_speed_,
		double	max_speed_
	)

void cajun::add_arc_points	(	rndf_lane_data_t &	lane_data_,
		double	bx,
		double	by,
		double	cx,
		double	cy,
		double	rad,
		double	start_ang,
		double	end_ang
	)

Add points along the arc with center (cx, cy), with starting angle 'start_ang' to 'end_ang' (from center of circle) to lane_data_. (bx, by) are base_x, base_y for lane_data_ structure. start_ang, end_ang and starting and ending angles of arch points wrt center of the circle.

Referenced by interp_intersection().

void cajun::add_base_point	(	rndf_t const *	rndf_,
		base_interpolator_t::uniform_path_t &	base_points_,
		rndf_t::waypoint_id_t const &	start_id_,
		rndf_t::waypoint_id_t const &	end_id_,
		double	dis_
	)

Adds base_points one just after start wp (exit wp) at distance dis_ along the orientation of the exiting lane, and one just before end_wp (entry wp) at distance dis_ along the orientation of the new entry lane at end_wp.

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

Referenced by interp_for_wp_pair().

void cajun::add_linear_points	(	std::deque< path_wp_t > &	path_,
		double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		base_interpolator_t *	interp_,
		double	min_speed_,
		double	max_speed_
	)

void cajun::add_linear_points	(	rndf_lane_data_t &	lane_data_,
		double	bx,
		double	by,
		double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		base_interpolator_t *	interp_
	)

Add points from (start_x, start_y) to (end_x, end_y) using interp_ interpolator and use (bx, by) as base_x, base_y for lane_data_.

References cajun::base_interpolator_t::interpolate(), cajun::base_interpolator_t::waypoint_t::x, and cajun::base_interpolator_t::waypoint_t::y.

Referenced by interp_intersection().

bool cajun::circle_circle_intersection	(	double	x0,
		double	y0,
		double	r0,
		double	x1,
		double	y1,
		double	r1,
		double &	xi,
		double &	yi,
		double &	xi_prime,
		double &	yi_prime
	)

void cajun::circle_start_end_angles	(	double	center_x_,
		double	center_y_,
		double	x0_,
		double	y0_,
		double	x1_,
		double	y1_,
		double &	start_ang_,
		double &	end_ang_
	)

void cajun::classify_lanes	(	std::vector< rndf_lane_data_t > const &	rndf_lanes_,
		std::vector< rndf_lane_data_t > &	regular_lanes_,
		std::vector< rndf_lane_data_t > &	intersection_lanes_
	)

double cajun::compute_radius	(	double	p1x,
		double	p1y,
		double	ang_1,
		double	p2x,
		double	p2y,
		double	ang_2
	)

Compute radius of the circle that has line passing through (p1x, p1y) with slope ang_1 and lane passing through (p2x, p2y) with slope ang_2 both as tangents. And passing through point (p1x, p1y).

Referenced by interp_intersection().

void cajun::compute_start_end_ang	(	double const	start_tangent_,
		double const	end_tangent_,
		double &	start_ang_,
		double &	end_ang_
	)

Compute start and end angles for circular arc from start tangent angle and end tangent, by deciding which side (right/left) will the arc drawn.

Referenced by interp_intersection().

double cajun::dis_along_rndf_lane	(	rndf_lane_data_t const &	lb_,
		unsigned	si_,
		unsigned	ei_
	)

Returns distance between si and ei along the lane boundary.

Referenced by distance_between_points().

double cajun::distance_along_lane	(	rndf_lane_data_t const &	lb_,
		double	x1_,
		double	y1_,
		double	x2_,
		double	y2_,
		double	width_factor_
	)

References find_boundary_index_after_point(), and rndf_length_between().

double cajun::distance_between_points	(	world_state_t *	ws_,
		unsigned	sid_,
		unsigned	lid_,
		double	x1_,
		double	y1_,
		unsigned	wid1_,
		double	x2_,
		double	y2_,
		unsigned	wid2_
	)

Distance between present point to end of lane boundary

References dis_along_rndf_lane(), find_boundary_index_after_point(), and cajun::world_state_t::get_lane_seg().

void cajun::extended_intersection_points	(	rndf_t const *	rndf_,
		rndf_t::waypoint_id_t const &	start_id_,
		rndf_t::waypoint_id_t const &	end_id_,
		double &	sx,
		double &	sy,
		double &	ex,
		double &	ey
	)

Adds base_points one just after start wp and before end wp along the orientation of line start_wp to end_wp and at distance dis_. Ideally adding base should be called if the both the wps on are on same lane, but for present function calling structure.

Referenced by interp_intersection().

void cajun::fill_initial_values	(	rndf_lane_data_t &	lane_data_,
		rndf_t::waypoint_id_t const &	start_id_,
		rndf_t::waypoint_id_t const &	end_id_,
		double	bx,
		double	by
	)

Fill in the initial values for lane_data.

Referenced by interp_intersection().

unsigned cajun::find_boundary_index_after_point	(	rndf_lane_data_t const &	lb_,
		unsigned	start_ind_,
		double	x_,
		double	y_,
		double &	lx_,
		double &	ly_,
		double &	dis_from_lane_,
		double	dis_off_,
		double	dis_before_ = `1`,
		double	dis_after_ = `1`,
		bool	debug = `false`
	)

Returns index to the pt in lane boundary just FOLLOWING x_, y_. If point not within lane boundary, then returns lb's num_points + 1. (lx_, ly_) are position of the (x_, y_) on the lane.

References CLOSE_TO_ZERO.

Referenced by distance_along_lane(), distance_between_points(), find_look_ahead_point(), find_look_behind_point(), find_xtrack_from_lane(), and map_onto_rndf_lane_segment().

bool cajun::find_look_ahead_point	(	rndf_lane_data_t const &	lb_,
		double	x_,
		double	y_,
		double &	lad_,
		double &	lx_,
		double &	ly_,
		unsigned &	wi_,
		double	width_factor_
	)

References find_boundary_index_after_point().

bool cajun::find_look_behind_point	(	rndf_lane_data_t const &	lb_,
		double	x_,
		double	y_,
		double &	lad_,
		double &	lx_,
		double &	ly_,
		unsigned &	wi_,
		double	width_factor_
	)

References find_boundary_index_after_point().

bool cajun::find_xtrack_from_lane	(	rndf_lane_data_t const &	lb_,
		double	x_,
		double	y_,
		double	width_factor_,
		double &	xtrack_dis_
	)

References find_boundary_index_after_point().

bool cajun::get_circle_arc_points	(	double	center_x,
		double	center_y,
		double	curvature_,
		double	distance_,
		double	start_ang_,
		double	end_ang_,
		std::vector< point_t > &	arc_points_
	)

void cajun::get_filename_for_wp_pair	(	unsigned	start_sid,
		unsigned	start_lid,
		unsigned	start_wid,
		unsigned	end_sid,
		unsigned	end_lid,
		unsigned	end_wid,
		std::string &	filename_
	)

Returns the filename for storing lane boundary for lane segment starting form given (si, li, wi) waypoint.

Referenced by cajun::lane_file_loader_t::seg_from_wp_pair().

void cajun::get_lane_from_files	(	std::vector< rndf_lane_data_t > &	lane_list_,
		std::string	lane_data_dir_,
		rndf_t const *	rndf_,
		double	interp_dis_
	)

bool cajun::get_lanes_around	(	world_state_t *	ws_,
		double	x_,
		double	y_,
		std::vector< rndf_lane_data_t > &	lane_list,
		double	rad_
	)

Returns list of rndf lane boundary lane segments around given (x, y), within given radius rad_.

References cajun::world_state_t::get_lane_seg(), and cajun::world_state_t::neighboring_lanes().

Referenced by map_onto_rndf_lane().

bool cajun::get_linear_rndf_lanes	(	std::vector< rndf_lane_data_t > &	lane_list_,
		rndf_t const *	rndf_,
		double	interp_dis_
	)

Referenced by cajun::world_state_t::enable_rndf_lane_map().

void cajun::interp_all_wp_segments	(	rndf_t const *	rndf_,
		base_interpolator_t *	interp_,
		std::vector< rndf_lane_data_t > &	lane_list_
	)

void cajun::interp_for_wp_pair	(	rndf_t const *	rndf_,
		base_interpolator_t *	interp_,
		rndf_t::waypoint_id_t const &	start_id,
		rndf_t::waypoint_id_t const &	end_id,
		rndf_lane_data_t &	lane_data_
	)

Generates lane boundary for lane segment start_id to end_id.

References add_base_point(), cajun::base_interpolator_t::get_inter_dis(), and cajun::base_interpolator_t::interpolate().

Referenced by interp_intersection().

void cajun::interp_from_wp	(	rndf_t const *	rndf_,
		base_interpolator_t *	interp_,
		std::vector< rndf_lane_data_t > &	lane_list_,
		rndf_t::waypoint_id_t	wp_id
	)

void cajun::interp_intersection	(	rndf_t const *	rnfd_,
		base_interpolator_t *	interp_,
		rndf_t::waypoint_id_t const &	start_id,
		rndf_t::waypoint_id_t const &	end_id,
		rndf_lane_data_t &	lane_data_
	)

References add_arc_points(), add_linear_points(), compute_radius(), compute_start_end_ang(), extended_intersection_points(), fill_initial_values(), and interp_for_wp_pair().

void cajun::interp_wp_from_zones	(	rndf_t const *	rndf_,
		base_interpolator_t *	interp_,
		std::vector< rndf_lane_data_t > &	lane_list_,
		rndf_t::waypoint_id_t	exit_wp_id
	)

bool cajun::map_onto_all_rndf_lane	(	world_state_t *	ws_,
		std::vector< rndf_lane_data_t > &	mapped_lane_list_,
		double	x_,
		double	y_,
		double	width_multiplier_,
		double	bubble_rad_,
		double	dis_after_
	)

bool cajun::map_onto_classified_lanes	(	double	x_,
		double	y_,
		std::vector< rndf_lane_data_t > const &	rndf_lanes_,
		rndf_lane_data_t &	best_lane_,
		std::vector< unsigned > &	all_lane_indexes_,
		double	width_multiplier_,
		double	dis_before_,
		double	dis_after_,
		double	at_heading_ = `INVALID_HEADING`
	)

bool cajun::map_onto_given_rndf_lanes	(	double	x_,
		double	y_,
		std::vector< rndf_lane_data_t > const &	rndf_lanes_,
		rndf_lane_data_t &	best_lane_,
		std::vector< unsigned > &	all_lane_indexes_,
		double	width_multiplier_,
		double	dis_before_,
		double	dis_after_,
		double	at_heading = `INVALID_HEADING`
	)

Referenced by map_onto_rndf_lane().

bool cajun::map_onto_rndf_lane	(	world_state_t *	ws_,
		rndf_lane_data_t &	lane_,
		double	x_,
		double	y_,
		double	width_multiplier_,
		double	bubble_rad_,
		double	first_lane_seg_dis_before_,
		double	dis_after_,
		double	heading_ = `INVALID_HEADING`
	)

Find the list of rndf lanes near x_,y_ and tries to map (x_,y_) on the these lanes and if successful returns true along with best fit rndf_lane.

dis_before_ is used only for the lane segment which are the beginning of the lane i.e start with wid ==1

References get_lanes_around(), and map_onto_given_rndf_lanes().

bool cajun::map_onto_rndf_lane_from_lanes	(	world_state_t *	ws_,
		unsigned	sid_,
		std::vector< unsigned > const &	lid_list,
		unsigned &	best_lid_,
		unsigned &	wid_,
		double	x_,
		double	y_,
		double	width_multiplier_,
		double	bubble_rad_,
		double	dis_after_
	)

bool cajun::map_onto_rndf_lane_segment	(	world_state_t *	ws_,
		rndf_t const *	rndf_,
		double	x_,
		double	y_,
		unsigned	sid_,
		unsigned	lid_,
		unsigned &	wid_,
		double	max_dis_off_,
		double	first_lane_dis_before_,
		double	last_lane_dis_after_
	)

maps xy on to a lane segment, returns TRUE if could map onto some lane segment on given lane, else return FALSE

References find_boundary_index_after_point(), cajun::world_state_t::get_lane_seg(), rndf_lane_post_dis(), and rndf_lane_pre_dis().

void cajun::print_rndf_lane ( std::vector< rndf_lane_data_t > const & lanes_ )

References print_rndf_lane().

void cajun::print_rndf_lane ( rndf_lane_data_t const & lane_ )

Referenced by print_rndf_lane().

double cajun::rndf_lane_heading_at	(	rndf_lane_data_t const &	lb_,
		unsigned	id_
	)

Computes the orientation of the lane at given index of lane boundary data.

double cajun::rndf_lane_post_dis	(	rndf_lane_data_t const &	lb_,
		rndf_t const *	rndf_,
		double	last_lane_dis_after_
	)

Referenced by map_onto_rndf_lane_segment().

double cajun::rndf_lane_pre_dis	(	rndf_lane_data_t const &	lb_,
		double	first_lane_dis_before_
	)

Referenced by map_onto_rndf_lane_segment().

double cajun::rndf_length_between	(	rndf_lane_data_t const &	lb,
		unsigned	start_i_,
		unsigned	end_i_
	)

Referenced by distance_along_lane().

cajun Namespace Reference

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