adore::fun::SetPointRequestDispatcher Class Reference

class helps to dispatch SetPointRequest to controller SetPointRequestDispatcher handles selection of initial state, coordinate conversion for odometry based tracking and dispatching of trajectories. More...

#include <setpointrequest_dispatcher.h>

Collaboration diagram for adore::fun::SetPointRequestDispatcher:

Public Member Functions
	SetPointRequestDispatcher ()
	~SetPointRequestDispatcher ()
bool	getInitialState (VehicleMotionState9d &result)
	compute and return initial state for next planning iteration The according initial state in odometry coordinates is saved for the future dispatch of the planned trajectory. More...
void	dispatch (SetPointRequest &combined_trajectory, SetPointRequest &nominal_trajectory)
	dispatch SetPointRequests computed in localization coordinates The combined trajectory will be converted to odometry coordinates and published both in odometry and localization coordinates The nominal trajectory will be published in localization coordinates More...
std::string	getStatus ()

Private Member Functions
void	computeResetCondition ()
void	computePlanStartPoint ()
void	update ()

Private Attributes
adore::params::APTacticalPlanner *	ptac_
adore::params::APVehicle *	pveh_
AFactory::TMotionStateReader *	localization_state_reader_
VehicleMotionStateBuffer	odometry_buffer_
VehicleMotionStateBuffer	localization_buffer_
AFactory::TSetPointRequestWriter *	setpointrequest_localization_writer_
AFactory::TSetPointRequestWriter *	setpointrequest_odometry_writer_
AFactory::TSetPointRequestWriter *	nominal_trajectory_writer_
SetPointRequest	spr_odom_
SetPointRequest	spr_localization_
VehicleMotionState9d	x_localization_
VehicleMotionState9d	x_odometry_
VehicleMotionState9d	x0_localization_
VehicleMotionState9d	x0_odometry_
ActivationStateObserver	activation_observer_
bool	reset_
bool	has_vehicle_state_
std::string	status_msg_

Detailed Description

class helps to dispatch SetPointRequest to controller SetPointRequestDispatcher handles selection of initial state, coordinate conversion for odometry based tracking and dispatching of trajectories.

Constructor & Destructor Documentation

SetPointRequestDispatcher()

adore::fun::SetPointRequestDispatcher::SetPointRequestDispatcher ( )

inline

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~SetPointRequestDispatcher()

adore::fun::SetPointRequestDispatcher::~SetPointRequestDispatcher ( )

inline

Member Function Documentation

computePlanStartPoint()

void adore::fun::SetPointRequestDispatcher::computePlanStartPoint ( )

inlineprivate

the position vector from state to trajectory in current odom frame, (et;en), awa heading vector in current odom frame, (epsit;epsin)

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computeResetCondition()

void adore::fun::SetPointRequestDispatcher::computeResetCondition ( )

inlineprivate

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dispatch()

void adore::fun::SetPointRequestDispatcher::dispatch ( SetPointRequest &  combined_trajectory, SetPointRequest &  nominal_trajectory  )

inline

dispatch SetPointRequests computed in localization coordinates The combined trajectory will be converted to odometry coordinates and published both in odometry and localization coordinates The nominal trajectory will be published in localization coordinates

Parameters

combined_trajectory	combined trajectory in localization coordinates
nominal_trajectory	nominal trajectory in localization coordinates

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getInitialState()

bool adore::fun::SetPointRequestDispatcher::getInitialState ( VehicleMotionState9d &  result )

inline

compute and return initial state for next planning iteration The according initial state in odometry coordinates is saved for the future dispatch of the planned trajectory.

Returns

VehicleMotionState9d in localization coordinates

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getStatus()

std::string adore::fun::SetPointRequestDispatcher::getStatus ( )

inline

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update()

void adore::fun::SetPointRequestDispatcher::update ( )

inlineprivate

update vehicle state variables

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Member Data Documentation

activation_observer_

ActivationStateObserver adore::fun::SetPointRequestDispatcher::activation_observer_

private

is automation in control?

has_vehicle_state_

bool adore::fun::SetPointRequestDispatcher::has_vehicle_state_

private

localization_buffer_

VehicleMotionStateBuffer adore::fun::SetPointRequestDispatcher::localization_buffer_

private

get vehicle state from localization state estimator, use lowest time of both buffers for initial state

localization_state_reader_

AFactory::TMotionStateReader* adore::fun::SetPointRequestDispatcher::localization_state_reader_

private

get vehicle state from localization state estimator

nominal_trajectory_writer_

AFactory::TSetPointRequestWriter* adore::fun::SetPointRequestDispatcher::nominal_trajectory_writer_

private

write nominal trajectory in localization coordinates

odometry_buffer_

VehicleMotionStateBuffer adore::fun::SetPointRequestDispatcher::odometry_buffer_

private

get vehicle state from odometry state estimator

ptac_

adore::params::APTacticalPlanner* adore::fun::SetPointRequestDispatcher::ptac_

private

tactical planner parameters

pveh_

adore::params::APVehicle* adore::fun::SetPointRequestDispatcher::pveh_

private

vehicle parameters

reset_

bool adore::fun::SetPointRequestDispatcher::reset_

private

indicates whether start point is resetted

setpointrequest_localization_writer_

AFactory::TSetPointRequestWriter* adore::fun::SetPointRequestDispatcher::setpointrequest_localization_writer_

private

write spr in localization coordinates

setpointrequest_odometry_writer_

AFactory::TSetPointRequestWriter* adore::fun::SetPointRequestDispatcher::setpointrequest_odometry_writer_

private

write spr in odometry coordinates

spr_localization_

SetPointRequest adore::fun::SetPointRequestDispatcher::spr_localization_

private

last spr written in localization coordinates

spr_odom_

SetPointRequest adore::fun::SetPointRequestDispatcher::spr_odom_

private

last spr written in odometry coordinates

status_msg_

std::string adore::fun::SetPointRequestDispatcher::status_msg_

private

explanation why resetting

x0_localization_

VehicleMotionState9d adore::fun::SetPointRequestDispatcher::x0_localization_

private

initial state in localization coordinates

x0_odometry_

VehicleMotionState9d adore::fun::SetPointRequestDispatcher::x0_odometry_

private

initial state in odometry coordinates

x_localization_

VehicleMotionState9d adore::fun::SetPointRequestDispatcher::x_localization_

private

state in localization coordinates

x_odometry_

VehicleMotionState9d adore::fun::SetPointRequestDispatcher::x_odometry_

private

state in odometry coordinates

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

• /home/fascar/temp/adore/libadore/libadore/adore/fun/include/adore/fun/setpointrequest_dispatcher.h