adore::apps::CheckpointController Class Reference

A set of virtual traffic lights are switched according to test driver input. CheckpointController is provided with a list of coorindates. Virtual traffic lights are placed at these coordinates, initially with red-light phase active. If a clearance button is pressed by the test driver, the nearest checkpoint traffic light in the lane-following view is switched to green-light for a given amount of time. More...

#include <checkpoint_controller.h>

Collaboration diagram for adore::apps::CheckpointController:

Public Member Functions
	CheckpointController ()
	~CheckpointController ()
void	run ()
bool	loadFromFile (std::string filename)
	read a set of 2d/3d coordinates from a csv file and add these to checkpoints_ More...

Private Attributes
adore::mad::AReader< adore::fun::VehicleMotionState9d > *	x_reader_
adore::mad::AReader< adore::fun::VehicleExtendedState > *	xx_reader_
adore::env::AFactory::TControlledConnectionWriter *	cc_writer_
adore::env::ThreeLaneViewDecoupled	lv_
std::vector< adore::env::ControlledConnection >	checkpoints_
adore::params::APCheckpoints *	pcheckpoints_

Detailed Description

A set of virtual traffic lights are switched according to test driver input. CheckpointController is provided with a list of coorindates. Virtual traffic lights are placed at these coordinates, initially with red-light phase active. If a clearance button is pressed by the test driver, the nearest checkpoint traffic light in the lane-following view is switched to green-light for a given amount of time.

Constructor & Destructor Documentation

CheckpointController()

adore::apps::CheckpointController::CheckpointController ( )

inline

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~CheckpointController()

adore::apps::CheckpointController::~CheckpointController ( )

inline

Member Function Documentation

loadFromFile()

bool adore::apps::CheckpointController::loadFromFile ( std::string  filename )

inline

read a set of 2d/3d coordinates from a csv file and add these to checkpoints_

Parameters

filename

the input csv file path/filename The input text file should be structured as follows: X0; Y0[; Z0][#comment] X1; Y1[; Z1][#comment] .... E.g. two to three doubles per line, separated by semicolons, "[]" meaning optional.

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run()

void adore::apps::CheckpointController::run ( )

inline

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Member Data Documentation

cc_writer_

adore::env::AFactory::TControlledConnectionWriter* adore::apps::CheckpointController::cc_writer_

private

write checkpoint state

checkpoints_

std::vector<adore::env::ControlledConnection> adore::apps::CheckpointController::checkpoints_

private

set of checkpoints

lv_

adore::env::ThreeLaneViewDecoupled adore::apps::CheckpointController::lv_

private

project checkpoint to lane

pcheckpoints_

adore::params::APCheckpoints* adore::apps::CheckpointController::pcheckpoints_

private

parameters for checkpoints

x_reader_

adore::mad::AReader<adore::fun::VehicleMotionState9d>* adore::apps::CheckpointController::x_reader_

private

compare vehicle position to checkpoint position

xx_reader_

adore::mad::AReader<adore::fun::VehicleExtendedState>* adore::apps::CheckpointController::xx_reader_

private

get clearance button state

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

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/checkpoint_controller.h