c_manage_trajectory Class Reference

#include <c_manage_trajectory.h>

List of all members.

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::TargetList &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

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Detailed Description

Definition at line 60 of file c_manage_trajectory.h.

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Constructor & Destructor Documentation

c_manage_trajectory::c_manage_trajectory

(

void

)

[inline]

Definition at line 63 of file c_manage_trajectory.h.

c_manage_trajectory::~c_manage_trajectory

(

)

[inline]

Definition at line 73 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:

c_trajectoryPtr&	trajectory
t_desired_coordinates&	AP
int	i

Returns:

double

Definition at line 615 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_chosen_traj

(

void

)

Chooses the trajectory.

Parameters:

void

Returns:

t_func_output

Definition at line 312 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:

boost::shared_ptr<c_trajectory>	trajectory
t_desired_coordinates&	AP

Returns:

t_func_output

Definition at line 580 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:

c_trajectoryPtr&	trajectory_planner
std::vector<t_obstacle>&	vo

Returns:

t_func_output

Definition at line 12 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:

c_trajectoryPtr&

trajectory

Returns:

t_func_output

Definition at line 268 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::compute_trajectories_scores

(

void

)

Compute trajectories scores.

Parameters:

void

Returns:

t_func_output

Definition at line 539 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:

visualization_msgs::MarkerArray*

marker_array

Returns:

t_func_output

Definition at line 355 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:

vector<double>	alpha_in
vector<double>	arc_in
vector<double>	speed_in

Returns:

t_func_output

Definition at line 297 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::create_static_markers

(

void

)

Create a static marker.

Parameters:

void

Returns:

t_func_output

Definition at line 338 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:

c_trajectoryPtr&	trajectory_planner
std::vector<visualization_msgs::Marker>*	marker_vec
int*	marker_count
double	z_high
double	value
double	normalized_value
string	string_init

Returns:

void

Definition at line 634 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:

trajectory_planner::traj_info*

info

Returns:

t_func_output

Definition at line 188 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:

double	Ax
double	Ay
double	Bx
double	By
double	Cx
double	Cy
double	Dx
double	Dy
double	*X
double	*Y

Returns:

int

Definition at line 93 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:

double	x
double	y
double	theta

Returns:

t_func_output

Definition at line 257 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 244 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:

double

val

Returns:

t_func_output

Definition at line 284 of file c_manage_trajectory.cpp.

t_func_output c_manage_trajectory::set_obstacles

(

mtt::TargetList &

msg

)

Sets the obstacles.

Parameters:

mtt::TargetList&

msg

Returns:

t_func_output

Definition at line 143 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:

trajectory_planner::traj_info*

info

Returns:

t_func_output

Definition at line 215 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:

double	w
double	lb
double	lf
double	ht
double	hb

Returns:

t_func_output

Definition at line 173 of file c_manage_trajectory.cpp.

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Member Data Documentation

t_desired_coordinates c_manage_trajectory::AP

Definition at line 83 of file c_manage_trajectory.h.

struct { ... } c_manage_trajectory::chosen_traj

int c_manage_trajectory::current_node

Definition at line 85 of file c_manage_trajectory.h.

int c_manage_trajectory::index

Definition at line 89 of file c_manage_trajectory.h.

double c_manage_trajectory::inter_axis_distance

Definition at line 84 of file c_manage_trajectory.h.

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

Definition at line 86 of file c_manage_trajectory.h.

t_vehicle_description c_manage_trajectory::vehicle_description

Definition at line 82 of file c_manage_trajectory.h.

std::vector<t_obstacle> c_manage_trajectory::vo

Definition at line 87 of file c_manage_trajectory.h.

std::vector<c_trajectoryPtr> c_manage_trajectory::vt

Definition at line 78 of file c_manage_trajectory.h.

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

• /home/joel/ros_workspace/lar3/planning/trajectory_planner/include/trajectory_planner/c_manage_trajectory.h
• /home/joel/ros_workspace/lar3/planning/trajectory_planner/src/c_manage_trajectory.cpp