c_manage_trajectory Class Reference

#include <c_manage_trajectory.h>

Public Member Functions
	c_manage_trajectory (void)
double	compute_ADAP (c_trajectoryPtr &trajectory, t_desired_coordinates &AP, int i)
	Compute the angular difference.
t_func_output	compute_chosen_traj ()
	Chooses the trajectory.
t_func_output	compute_DAP (c_trajectoryPtr &trajectory, t_desired_coordinates &AP)
	Compute the distance to application point.
t_func_output	compute_DLO (c_trajectoryPtr &trajectory, std::vector< t_obstacle > &vo)
	Compute the free space.
t_func_output	compute_global_traj_score (c_trajectoryPtr &trajectory)
	Computes the trajectory global score.
t_func_output	compute_trajectories_scores ()
	Compute trajectories scores.
t_func_output	compute_vis_marker_array (visualization_msgs::MarkerArray *marker_array)
	Compute the markers array.
t_func_output	create_new_trajectory (vector< double > alpha_in, vector< double > arc_in, vector< double > speed_in)
	Create a trajectory.
t_func_output	create_static_markers ()
	Create a static marker.
void	draw_on_node (c_trajectoryPtr &trajectory, std::vector< visualization_msgs::Marker > marker_vec, int marker_count, double z_high, double value, double normalized_value, string string_init)
	Draw some informations about trajectories.
t_func_output	get_traj_info_msg_from_chosen (trajectory_planner::traj_info *info)
	Gets the info of chosen nodes.
int	lineSegmentIntersection (double Ax, double Ay, double Bx, double By, double Cx, double Cy, double Dx, double Dy, double X, double Y)
	Verifies intersections between lines.
t_func_output	set_attractor_point (double x, double y, double theta)
	Set the attractor point.
int	set_chosen_traj (int n)
	Set the chosen trajectory.
t_func_output	set_inter_axis_distance (double val)
	Set the inter-axis distance of the vehicle.
t_func_output	set_obstacles (mtt::TargetListPC &msg)
	Sets the obstacles.
t_func_output	set_speed_vector (trajectory_planner::traj_info *info)
	Determine the speed vector.
t_func_output	set_vehicle_description (double w, double lb, double lf, double ht, double hb)
	Set the vehicle description.
	~c_manage_trajectory ()
Public Attributes
t_desired_coordinates	AP
struct {
int index
}	chosen_traj
int	current_node
double	inter_axis_distance
std::vector < visualization_msgs::Marker >	static_marker_vec
t_vehicle_description	vehicle_description
std::vector< t_obstacle >	vo
std::vector< c_trajectoryPtr >	vt

Detailed Description

Definition at line 86 of file c_manage_trajectory.h.

Constructor & Destructor Documentation

c_manage_trajectory::c_manage_trajectory ( void ) [inline]

Definition at line 89 of file c_manage_trajectory.h.

c_manage_trajectory::~c_manage_trajectory ( ) [inline]

Definition at line 99 of file c_manage_trajectory.h.

Member Function Documentation

double c_manage_trajectory::compute_ADAP	(	c_trajectoryPtr &	trajectory,
		t_desired_coordinates &	AP,
		int	i
	)

Compute the angular difference.

Parameters:

	trajectory
	AP
	i

Returns:: double

Definition at line 652 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_chosen_traj ( void )

Chooses the trajectory.

Returns:: t_func_output

Definition at line 346 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_DAP	(	c_trajectoryPtr &	trajectory,
		t_desired_coordinates &	AP
	)

Compute the distance to application point.

Parameters:

	trajectory
	AP

Returns:: t_func_output

Definition at line 616 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_DLO	(	c_trajectoryPtr &	trajectory,
		std::vector< t_obstacle > &	vo
	)

Compute the free space.

Determines the intersection point of the line segment defined by points A and B with the line segment defined by points C and D. Returns YES if the intersection point was found, and stores that point in X,Y. Returns NO if there is no determinable intersection point, in which case X,Y will be unmodified.

Parameters:

	trajectory_planner
	vo

Returns:: t_func_output

Definition at line 39 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_global_traj_score ( c_trajectoryPtr & trajectory )

Computes the trajectory global score.

Parameters:

trajectory

Returns:: t_func_output

Definition at line 301 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_trajectories_scores ( void )

Compute trajectories scores.

Returns:: t_func_output

Definition at line 574 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_vis_marker_array ( visualization_msgs::MarkerArray * marker_array )

Compute the markers array.

Parameters:

marker_array

Returns:: t_func_output

Definition at line 390 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::create_new_trajectory	(	vector< double >	alpha_in,
		vector< double >	arc_in,
		vector< double >	speed_in
	)

Create a trajectory.

Parameters:

	alpha_in
	arc_in
	speed_in

Returns:: t_func_output

Definition at line 331 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::create_static_markers ( void )

Create a static marker.

Returns:: t_func_output

Definition at line 372 of file c_manage_trajectory.cpp.

void c_manage_trajectory::draw_on_node	(	c_trajectoryPtr &	trajectory,
		std::vector< visualization_msgs::Marker > *	marker_vec,
		int *	marker_count,
		double	z_high,
		double	value,
		double	normalized_value,
		string	string_init
	)

Draw some informations about trajectories.

Parameters:

	trajectory_planner
	marker_vec
	marker_count
	z_high
	value
	normalized_value
	string_init

Definition at line 671 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::get_traj_info_msg_from_chosen ( trajectory_planner::traj_info * info )

Gets the info of chosen nodes.

Parameters:

info

Returns:: t_func_output

Definition at line 218 of file c_manage_trajectory.cpp.

int c_manage_trajectory::lineSegmentIntersection	(	double	Ax,
		double	Ay,
		double	Bx,
		double	By,
		double	Cx,
		double	Cy,
		double	Dx,
		double	Dy,
		double *	X,
		double *	Y
	)

Verifies intersections between lines.

Parameters:

	Ax
	Ay
	Bx
	By
	Cx
	Cy
	Dx
	Dy
	X
	Y

Returns:: int

Definition at line 121 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_attractor_point	(	double	x,
		double	y,
		double	theta
	)

Set the attractor point.

Parameters:

	x
	y
	theta

Returns:: t_func_output

Definition at line 289 of file c_manage_trajectory.cpp.

int c_manage_trajectory::set_chosen_traj ( int n )

Set the chosen trajectory.

Parameters:

int

n

Returns:: int

Definition at line 275 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_inter_axis_distance ( double val )

Set the inter-axis distance of the vehicle.

Parameters:

val

Returns:: t_func_output

Definition at line 318 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_obstacles ( mtt::TargetListPC & msg )

Sets the obstacles.

Parameters:

mtt::TargetListPC&

msg

Returns:: t_func_output

Definition at line 171 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_speed_vector ( trajectory_planner::traj_info * info )

Determine the speed vector.

Parameters:

info

Returns:: t_func_output

Definition at line 246 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_vehicle_description	(	double	w,
		double	lb,
		double	lf,
		double	ht,
		double	hb
	)

Set the vehicle description.

Parameters:

	w
	lb
	lf
	ht
	hb

Returns:: t_func_output

Definition at line 202 of file c_manage_trajectory.cpp.

Member Data Documentation

t_desired_coordinates c_manage_trajectory::AP

Definition at line 109 of file c_manage_trajectory.h.

struct { ... } c_manage_trajectory::chosen_traj

int c_manage_trajectory::current_node

Definition at line 111 of file c_manage_trajectory.h.

int c_manage_trajectory::index

Definition at line 115 of file c_manage_trajectory.h.

double c_manage_trajectory::inter_axis_distance

Definition at line 110 of file c_manage_trajectory.h.

std::vector<visualization_msgs::Marker> c_manage_trajectory::static_marker_vec

Definition at line 112 of file c_manage_trajectory.h.

t_vehicle_description c_manage_trajectory::vehicle_description

Definition at line 108 of file c_manage_trajectory.h.

std::vector<t_obstacle> c_manage_trajectory::vo

Definition at line 113 of file c_manage_trajectory.h.

std::vector<c_trajectoryPtr> c_manage_trajectory::vt

Definition at line 104 of file c_manage_trajectory.h.

The documentation for this class was generated from the following files:

/home/laradmin/lar/planning/trajectory_planner/include/trajectory_planner/c_manage_trajectory.h
/home/laradmin/lar/planning/trajectory_planner/src/c_manage_trajectory.cpp

c_manage_trajectory Class Reference

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation