DtGroundMoveToObstacleAvoider Class Reference

Classes
struct	AvoiderStatus
struct	EntityObstacleData
struct	FeatureObstacleData
struct	FeatureObstacleEdge
class	SpeedConstraint
struct	SpeedInterval

Public Types
Speed Constraints
Classes to represent the allowed speeds at a given heading.
typedef std::list< SpeedInterval >	IntervalList

Public Member Functions
	DtGroundMoveToObstacleAvoider (const DtSimulationServices *simsvc, const DtLocalObject *hostEntity, const DtGroundMoveToDestinationControllerComponent *parentCtrlr)
virtual	~DtGroundMoveToObstacleAvoider ()

Protected Member Functions
Behavior Constants
These functions define constants that affect various avoidance decisions. Override to change behavior.
virtual double	maxOffroadSpeed () const
virtual double	lookaheadTime () const
Right of Way Rules
virtual bool	shouldYieldToRight ()
virtual bool	shouldYieldToLeft ()
Get Obstacles
Functions to gather obstacles each tick.
virtual void	provideDynamicObstacles (std::list< struct EntityObstacleData > &vehicles)
virtual void	computeEntityObstacleData (const DtSimObjectReference &obj, EntityObstacleData &entityObstacleData)
virtual void	provideStaticObstacles (std::list< struct FeatureObstacleData > &walls)
virtual void	testAndSetClockwiseOrdering (FeatureObstacleData &obstacle)
virtual void	setInitialObstacleEdgeHeadings (FeatureObstacleData &obstacle) const
virtual void	setIsFacingEntity (FeatureObstacleData &obstacle, const DtVector &entityLocation)
virtual DtExtent	makeDynamicObstacleSearchArea (const DtVector &localGoal)
virtual MAKVRinTerra::DtFeatureGeometry::Area	makeStaticObstacleSearchArea (const DtVector &localGoal)
Processing Obstacles.
Functions that examine obstacles and produce speed constraints, then call evaluation functions to find the best speed and a score for it.
virtual void	computeFinalAction (const std::list< struct EntityObstacleData > &vehicles, const std::list< struct FeatureObstacleData > &walls, const double desiredHeading, const double desiredSpeed, double &outHeading, double &outSpeed, AvoiderStatus &status)
virtual double	computeSpeedAndScoreForPathHeading (const double pathHeading, double refHeading, SpeedConstraint &refConstraint, const bool maybeYieldRow, const std::list< struct EntityObstacleData > &vehicles, const std::list< struct FeatureObstacleData > &walls, const double desiredSpeed, const double desiredHeading, double &outSpeed, SpeedConstraint &resultConstraint)
virtual double	computeSpeedAndScoreForStraightAhead (const std::list< struct EntityObstacleData > &vehicles, const std::list< struct FeatureObstacleData > &walls, const double desiredSpeed, const double desiredHeading, SpeedConstraint &outConstraint, double &outSpeed)
virtual SpeedConstraint	computeSpeedConstraintFromDynamicObstacle (const double originOffset, const double ownHalfWidth, const double ownHalfLength, const EntityObstacleData &obstacle, bool leftTurn, bool rightTurn, const double cornerBufferWidth)
virtual SpeedConstraint	computeSpeedConstraintFromStaticObstacle (const double originOffset, const double ownHalfWidth, const double ownHalfLength, const FeatureObstacleData &obstacle, bool leftTurn, bool rightTurn, const double cornerBufferWidth)
Scoring Functions.
These functions compute a score for a given speed and heading so that actions can be compared against one another.
virtual double	actionScore (const SpeedConstraint &constrainedAction, const double desiredHeading, const double desiredSpeed, double &speedForBestScore)
virtual void	updateBestScoreAndSpeed (double &bestScore, double &bestSpeed, const double speed, const double heading, const double desiredSpeed, const double desiredHeading, const bool applyYield=false, const bool isStatic=false)
virtual double	combinedScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading, const bool yieldTo=false, const bool isStatic=false)
virtual double	speedGreaterThanDesiredScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	speedLessThanDesiredScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	speedInDesiredDirectionScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	speedLessThanFeasibleScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	speedGreaterThanFeasibleScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	headingInDesiredDirectionScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
virtual double	yieldToScore (const double speed, const double heading, const double desiredSpeed, const double desiredHeading)
Utilities
virtual void	computeBodyTransform ()
virtual void	computeHorizontalRotation (const double angle, DtDcm &rot)
virtual void	markVehiclesWithRightOfWay (const double desiredHeading, const std::list< struct EntityObstacleData > &vehicles)
virtual double	maxSpeedForPassBehind (const double timeLimit, const double distance)
virtual double	minSpeedForPassAhead (const double timeLimit, const double distance)
virtual double	minTurnRadiusForCurrentSpeed () const
virtual double	maxAccelerationForSpeed ()
virtual double	maxTractionForConditions ()
virtual double	highestFeasibleSpeed () const
virtual void	setHighestFeasibleSpeed (const double s)
virtual double	lowestFeasibleSpeed () const
virtual void	setLowestFeasibleSpeed (const double s)

Protected Attributes
std::set< DtSimObjectReference >	myVehiclesToYieldTo
std::list< DtSimObjectReference >	myCachedEntityObstacles
double	myLastEntityQueryTime
bool	myWasEmbarked
std::shared_ptr < MAKVRinTerra::DtFeatureSet >	myObstacleFeatureSet
DtVector	myLastObstacleSearchLocation
double	myLastObstacleSearchHeading
bool	myHaveAskedForFeatureObstacles
bool	myHaveLoadedFeatureObstacles
std::list< FeatureObstacleData >	myCachedFeatureObstacles
DtCoordTransform	myLocalToHorizontalBody
bool	myDebug
DtSimObjectReference	myKeyVehicleObstacle
bool	myIsObstacleWall
DtChord	myKeyWallObstacle
DtExtent	myDynamicObstacleSearchArea
MAKVRinTerra::DtFeatureGeometry::PointVector	myStaticObstacleSearchArea
Global context information
const DtSimulationServices *	mySimulationServices
const DtLocalObject *	myEntity
const DtGroundMoveToDestinationControllerComponent *	myParentController
const DtGroundVehicleStateRepository *	myVehicleState
DtVector	myLocalDestination
bool	myIsGoingBackwards
Computed at the beginning of each use of the avoider:
double	myLateralAccelerationLimit
double	myAccelerationLimit
double	myBrakingLimit
double	myHighestFeasibleSpeedNow
double	myLowestFeasibleSpeedNow
double	myMaxSpeedForMinTurnRadius
double	myCurrentAltitude
double	mySpeed
double	myHeading

Public API
Main interface for parent controller
enum	AvoiderStatusTypeValue {   avoiderNotActive = 0, avoiderNoObstacles = 1, avoiderAvoiding = 2, avoiderStoppedForMovingObstacle = 3,   avoiderStoppedForStaticObstacle = 4 }
enum	ObstacleType { obstacleStatic = 0, obstacleDynamic = 1 }
std::string	avoiderStatusString (enum AvoiderStatusTypeValue)
virtual void	steeringAndSpeedThroughObstacles (const DtVector &localGoalPosition, const double desiredImmediateHeading, const double desiredSpeed, const double desiredAccelLimit, double &desiredHeadingOut, double &desiredSpeedOut, AvoiderStatus &avoiderStatus, const bool debug=false)
virtual void	searchAreaVisualization (std::vector< DtVector > &boundary)
virtual void	staticObstacleVisualization (std::vector< std::vector< DtVector >> &walls)
virtual void	dynamicObstacleVisualization (DtExtent &extent)

Obstacle Gathering Utilities
virtual bool	isNotSelf (const DtSimObject *obj)
virtual bool	isNotBehind (const DtSimObject *obj)
virtual bool	isNotEmbarkedOnDifferentParent (const DtSimObject *obj)
virtual bool	doesNotOverlapInAltitude (const DtSimObject *obj)
virtual DtCompositePredicate	dynamicObstaclePredicate ()
virtual void	putFeatureInCache (const MAKVRinTerra::DtFeature &f)
static bool	ignoreSelfFilterFcn (const DtSimObject *obj, void *usr)
static bool	ignoreBehindFilterFcn (const DtSimObject *obj, void *usr)
static bool	ignoreEmbarkedOnDifferentParentFcn (const DtSimObject *obj, void *usr)
static bool	ignoreDifferentAltitudeFcn (const DtSimObject *obj, void *usr)

Member Typedef Documentation

typedef std::list<SpeedInterval> DtGroundMoveToObstacleAvoider::IntervalList

Member Enumeration Documentation

enum DtGroundMoveToObstacleAvoider::AvoiderStatusTypeValue

Called each tick of the parent controller to provide steering and speed, given the goal and considering obstacles.

Parameters

localGoalPosition	The goal location in local coordinates. This is used to allow the avoider to make sure that obstacle space buffers don't unnecessarily keep the vehicle from reaching the goal.
desiredImmediateHeading	The heading desired this tick. Often this will be the heading to the goal position, but the caller may instead want to move the entity back toward a line or something.
desiredSpeed	The desired unrestricted speed (e.g. ordered speed).
desiredLatAccelLimit	Lateral acceleration limit to use when considering turning maneuvers.
desiredHeadingOut	The output heading to turn to.
desiredSpeedOut	The output speed. This is usually an upper bound, but a maneuver to pass in front of another vehicle may require driving this speed. If the vehicle is moving in reverse, this will still be a positive value.

Enumerator
avoiderNotActive
avoiderNoObstacles
avoiderAvoiding
avoiderStoppedForMovingObstacle
avoiderStoppedForStaticObstacle

enum DtGroundMoveToObstacleAvoider::ObstacleType

Called each tick of the parent controller to provide steering and speed, given the goal and considering obstacles.

Parameters

localGoalPosition	The goal location in local coordinates. This is used to allow the avoider to make sure that obstacle space buffers don't unnecessarily keep the vehicle from reaching the goal.
desiredImmediateHeading	The heading desired this tick. Often this will be the heading to the goal position, but the caller may instead want to move the entity back toward a line or something.
desiredSpeed	The desired unrestricted speed (e.g. ordered speed).
desiredLatAccelLimit	Lateral acceleration limit to use when considering turning maneuvers.
desiredHeadingOut	The output heading to turn to.
desiredSpeedOut	The output speed. This is usually an upper bound, but a maneuver to pass in front of another vehicle may require driving this speed. If the vehicle is moving in reverse, this will still be a positive value.

Enumerator
obstacleStatic
obstacleDynamic

Constructor & Destructor Documentation

DtGroundMoveToObstacleAvoider::DtGroundMoveToObstacleAvoider	(	const DtSimulationServices *	simsvc,
		const DtLocalObject *	hostEntity,
		const DtGroundMoveToDestinationControllerComponent *	parentCtrlr
	)

virtual DtGroundMoveToObstacleAvoider::~DtGroundMoveToObstacleAvoider ( )

virtual

destructor

Member Function Documentation

std::string DtGroundMoveToObstacleAvoider::avoiderStatusString

(

enum

AvoiderStatusTypeValue

)

Called each tick of the parent controller to provide steering and speed, given the goal and considering obstacles.

Parameters

localGoalPosition	The goal location in local coordinates. This is used to allow the avoider to make sure that obstacle space buffers don't unnecessarily keep the vehicle from reaching the goal.
desiredImmediateHeading	The heading desired this tick. Often this will be the heading to the goal position, but the caller may instead want to move the entity back toward a line or something.
desiredSpeed	The desired unrestricted speed (e.g. ordered speed).
desiredLatAccelLimit	Lateral acceleration limit to use when considering turning maneuvers.
desiredHeadingOut	The output heading to turn to.
desiredSpeedOut	The output speed. This is usually an upper bound, but a maneuver to pass in front of another vehicle may require driving this speed. If the vehicle is moving in reverse, this will still be a positive value.

virtual void DtGroundMoveToObstacleAvoider::steeringAndSpeedThroughObstacles ( const DtVector &  localGoalPosition, const double  desiredImmediateHeading, const double  desiredSpeed, const double  desiredAccelLimit, double &  desiredHeadingOut, double &  desiredSpeedOut, AvoiderStatus &  avoiderStatus, const bool  debug = false  )

virtual

Called each tick of the parent controller to provide steering and speed, given the goal and considering obstacles.

Parameters

localGoalPosition	The goal location in local coordinates. This is used to allow the avoider to make sure that obstacle space buffers don't unnecessarily keep the vehicle from reaching the goal.
desiredImmediateHeading	The heading desired this tick. Often this will be the heading to the goal position, but the caller may instead want to move the entity back toward a line or something.
desiredSpeed	The desired unrestricted speed (e.g. ordered speed).
desiredLatAccelLimit	Lateral acceleration limit to use when considering turning maneuvers.
desiredHeadingOut	The output heading to turn to.
desiredSpeedOut	The output speed. This is usually an upper bound, but a maneuver to pass in front of another vehicle may require driving this speed. If the vehicle is moving in reverse, this will still be a positive value.

virtual void DtGroundMoveToObstacleAvoider::searchAreaVisualization ( std::vector< DtVector > &  boundary )

virtual

Fills in boundary with the vertices (world coordinates) of the search area.

virtual void DtGroundMoveToObstacleAvoider::staticObstacleVisualization ( std::vector< std::vector< DtVector >> &  walls )

virtual

Fills in walls with the vertices (world coordinates) of the walls currently in use.

virtual void DtGroundMoveToObstacleAvoider::dynamicObstacleVisualization ( DtExtent &  extent )

virtual

Called each tick of the parent controller to provide steering and speed, given the goal and considering obstacles.

Parameters

localGoalPosition	The goal location in local coordinates. This is used to allow the avoider to make sure that obstacle space buffers don't unnecessarily keep the vehicle from reaching the goal.
desiredImmediateHeading	The heading desired this tick. Often this will be the heading to the goal position, but the caller may instead want to move the entity back toward a line or something.
desiredSpeed	The desired unrestricted speed (e.g. ordered speed).
desiredLatAccelLimit	Lateral acceleration limit to use when considering turning maneuvers.
desiredHeadingOut	The output heading to turn to.
desiredSpeedOut	The output speed. This is usually an upper bound, but a maneuver to pass in front of another vehicle may require driving this speed. If the vehicle is moving in reverse, this will still be a positive value.

virtual double DtGroundMoveToObstacleAvoider::maxOffroadSpeed ( ) const

inlineprotectedvirtual

The maximum assumed speed while driving off road. This affects the search distance for dynamic obstacles. Default value: 20.0 m/s.

virtual double DtGroundMoveToObstacleAvoider::lookaheadTime ( ) const

inlineprotectedvirtual

The amount of time to lookahead. This affects the search distance for all obstacles. Note that the time required to slow to a stop is spd/accel; consider the max speed above and a gentle deceleration of 3-5mps. Default value: 10.0 s.

virtual bool DtGroundMoveToObstacleAvoider::shouldYieldToRight ( )

inlineprotectedvirtual

Indicates if yield-to-right is in effect. Ownship should yield (within reason) to vehicle obstacles approaching from the right. Takes priority if this and yield-to-left are in effect. TODO – not currently used.

virtual bool DtGroundMoveToObstacleAvoider::shouldYieldToLeft ( )

inlineprotectedvirtual

Indicates if yield-to-left is in effect. Ownship should yield (within reason) to vehicle obstacles approaching from the left. TODO – not currently used.

virtual void DtGroundMoveToObstacleAvoider::provideDynamicObstacles ( std::list< struct EntityObstacleData > &  vehicles )

protectedvirtual

Get the vehicle (dynamic) obstacles for the avoidance algorithm.

virtual void DtGroundMoveToObstacleAvoider::computeEntityObstacleData ( const DtSimObjectReference &  obj, EntityObstacleData &  entityObstacleData  )

protectedvirtual

Get the vehicle (dynamic) obstacles for the avoidance algorithm.

virtual void DtGroundMoveToObstacleAvoider::provideStaticObstacles ( std::list< struct FeatureObstacleData > &  walls )

protectedvirtual

Get the feature (static) obstacles for the avoidance algorithm.

virtual void DtGroundMoveToObstacleAvoider::testAndSetClockwiseOrdering ( FeatureObstacleData &  obstacle )

protectedvirtual

Determines if the vertices of an obstacle (assumed to be a closed area) are in clockwise order or not, and if not, reversed them (i.e. clockwise when viewed from above).

virtual void DtGroundMoveToObstacleAvoider::setInitialObstacleEdgeHeadings ( FeatureObstacleData &  obstacle ) const

protectedvirtual

Get the vehicle (dynamic) obstacles for the avoidance algorithm.

virtual void DtGroundMoveToObstacleAvoider::setIsFacingEntity ( FeatureObstacleData &  obstacle, const DtVector &  entityLocation  )

protectedvirtual

Get the vehicle (dynamic) obstacles for the avoidance algorithm.

virtual DtExtent DtGroundMoveToObstacleAvoider::makeDynamicObstacleSearchArea ( const DtVector &  localGoal )

protectedvirtual

Compute the area in which to search for moving obstacles. This function uses a defined constant for the maximum speed at which a moving obstacle can be moving. It uses the ownship location and orientation to compute the search area.

Parameters

localGoal

Local coordinates of destination.

Returns

An area feature geometry describing the search area.

virtual MAKVRinTerra::DtFeatureGeometry::Area DtGroundMoveToObstacleAvoider::makeStaticObstacleSearchArea ( const DtVector &  localGoal )

protectedvirtual

Compute the area in which to search for static obstacles. This area will likely be different than the one for moving obstacles because all of these obstacles are stationary, i.e. they cannot be moving toward this vehicle.

Parameters

localGoal

Local coordinates of destination.

Returns

An area feature geometry describing the search area.

virtual bool DtGroundMoveToObstacleAvoider::isNotSelf ( const DtSimObject *  obj )

protectedvirtual

This also ignores an object if it is the parent of the entity.

virtual bool DtGroundMoveToObstacleAvoider::isNotBehind ( const DtSimObject *  obj )

protectedvirtual

This also ignores an object if it is the parent of the entity.

virtual bool DtGroundMoveToObstacleAvoider::isNotEmbarkedOnDifferentParent ( const DtSimObject *  obj )

protectedvirtual

This also ignores an object if it is the parent of the entity.

virtual bool DtGroundMoveToObstacleAvoider::doesNotOverlapInAltitude ( const DtSimObject *  obj )

protectedvirtual

This also ignores an object if it is the parent of the entity.

static bool DtGroundMoveToObstacleAvoider::ignoreSelfFilterFcn ( const DtSimObject *  obj, void *  usr  )

staticprotected

This also ignores an object if it is the parent of the entity.

static bool DtGroundMoveToObstacleAvoider::ignoreBehindFilterFcn ( const DtSimObject *  obj, void *  usr  )

staticprotected

This also ignores an object if it is the parent of the entity.

static bool DtGroundMoveToObstacleAvoider::ignoreEmbarkedOnDifferentParentFcn ( const DtSimObject *  obj, void *  usr  )

staticprotected

This also ignores an object if it is the parent of the entity.

static bool DtGroundMoveToObstacleAvoider::ignoreDifferentAltitudeFcn ( const DtSimObject *  obj, void *  usr  )

staticprotected

This also ignores an object if it is the parent of the entity.

virtual DtCompositePredicate DtGroundMoveToObstacleAvoider::dynamicObstaclePredicate ( )

protectedvirtual

This also ignores an object if it is the parent of the entity.

virtual void DtGroundMoveToObstacleAvoider::putFeatureInCache ( const MAKVRinTerra::DtFeature &  f )

protectedvirtual

Visitor function for features in myObstacleFeatureSet that puts them into a list of FeatureObstacleData.

virtual void DtGroundMoveToObstacleAvoider::computeFinalAction ( const std::list< struct EntityObstacleData > &  vehicles, const std::list< struct FeatureObstacleData > &  walls, const double  desiredHeading, const double  desiredSpeed, double &  outHeading, double &  outSpeed, AvoiderStatus &  status  )

protectedvirtual

Analyzes obstacles and determines the best steering and speed through them.

Parameters

vehicles	A list of EntityObstacleData, with offset, velocity, and relativeHeading values referenced to the ownship location and heading. The relativeHeading for each obstacle has already been flipped 180 degrees if the vehicle is moving in reverse.
walls	Similarly for feature obstacle data.
desiredHeading	The absolute heading desired.
desiredSpeed	The speed desired for the ownship, e.g. ordered speed.
outHeading	The heading of the best computed action.
outSpeed	The speed of the best computed action.

virtual double DtGroundMoveToObstacleAvoider::computeSpeedAndScoreForPathHeading ( const double  pathHeading, double  refHeading, SpeedConstraint &  refConstraint, const bool  maybeYieldRow, const std::list< struct EntityObstacleData > &  vehicles, const std::list< struct FeatureObstacleData > &  walls, const double  desiredSpeed, const double  desiredHeading, double &  outSpeed, SpeedConstraint &  resultConstraint  )

protectedvirtual

Computes the speed and a "score" for a path at a given heading from the ownship (refHeading). The function transforms all of the obstacle data to the frame of reference of the pathHeading and computes and merges SpeedConstraints for each obstacle. It returns the best score for this pathHeading, and the speed corresponding to that score.

Parameters

pathHeading	The desired heading for the path.
refHeading	The heading of the vehicle. This parameter allows the function to determine how much of a turn this pathHeading represents.
refConstraint	The constraint already computed for movement in the refHeading direction. This includes a clear distance in the refHeading direction and speed constraints to avoid any conflict area.
vehicles	A list of EntityObstacleData, where the offsets and velocities are relative to the [ownship] origin and the refHeading.
walls	Similarly, for FeatureObstacleData.
desiredSpeed	The ideal speed (ordered or task speed).
outSpeed	An output parameter to hold the best speed, corresponding to the return score value.
resultConstraint	The final constraint used to select the outSpeed, using the scoring functions. This output is provided to allow the caller to determine if other speeds were possible, and to see what obstacle was the forcing one for the constraint.

Returns

A score for the given heading; the speed for that score is returned in outSpeed.

virtual double DtGroundMoveToObstacleAvoider::computeSpeedAndScoreForStraightAhead ( const std::list< struct EntityObstacleData > &  vehicles, const std::list< struct FeatureObstacleData > &  walls, const double  desiredSpeed, const double  desiredHeading, SpeedConstraint &  outConstraint, double &  outSpeed  )

protectedvirtual

Like #computerSpeedAndScoreForPathHeading, but fixed for a path heading that is straight ahead for the ownship. Returns a SpeedConstraint that can be used for later computation.

Parameters

vehicles	A list of EntityObstacleData, where the offsets and velocities are relative to the [ownship] origin and heading.
walls	Similarly, for FeatureObstacleData.
outSpeed	The best speed to use going straight ahead.
outConstraint	The speed constraints for going straight ahead.

Returns

A score for going straight ahead at outSpeed.

virtual SpeedConstraint DtGroundMoveToObstacleAvoider::computeSpeedConstraintFromDynamicObstacle ( const double  originOffset, const double  ownHalfWidth, const double  ownHalfLength, const EntityObstacleData &  obstacle, bool  leftTurn, bool  rightTurn, const double  cornerBufferWidth  )

protectedvirtual

Compute the constraints set by one dynamic obstacle. Given the ownship's speed along the (body) +x axis, determine if the obstacle will intersect the ownship and when; compute a speed below which the ownship will pass behind the obstacle and a speed above which the ownship will pass in front of the obstacle. This generates a SpeedConstraint. SpeedConstraints for all obstacles are merged to return the final one.

Parameters

originOffset	This computation may be at an angle to the ownship's heading, requiring a turn along an arc. If two tangents are drawn to this arc, one at the ownship heading and one at a desired path heading, they will intersect at a point some distance in front of the ownship. This parameter is the distance to that intersection. This intersection point is the origin of the coordinate system that the obstacle positions are given in.
cornerBufferWidth	If the obstacle is close enough that it is along the curve that ownship would follow to turn to this path, then this function should check to see if the obstacle is along the curve. The curve cuts inside of the corner formed by the ownship x axis and the angled path line. This parameter defines how far inside the corner the curve cuts.
leftTurn	and rightTurn indicate whether the path angles left or right from the ownship x axis. The cornerBufferWidth is applied to the inside of the turn.

Returns

A SpeedConstraint with the pass ahead and behind speed limits, plus the clear distance from the ownship to the conflict area. This distance includes the originOffset but not the length of the ownship.

virtual SpeedConstraint DtGroundMoveToObstacleAvoider::computeSpeedConstraintFromStaticObstacle ( const double  originOffset, const double  ownHalfWidth, const double  ownHalfLength, const FeatureObstacleData &  obstacle, bool  leftTurn, bool  rightTurn, const double  cornerBufferWidth  )

protectedvirtual

This function is similar to the one for dynamic obstacles, except that the obstacle is made up of a set of static line segments instead of bounding volumes. Segments that do not face the ownship are ignored.

virtual double DtGroundMoveToObstacleAvoider::actionScore ( const SpeedConstraint &  constrainedAction, const double  desiredHeading, const double  desiredSpeed, double &  speedForBestScore  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual void DtGroundMoveToObstacleAvoider::updateBestScoreAndSpeed ( double &  bestScore, double &  bestSpeed, const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading, const bool  applyYield = false, const bool  isStatic = false  )

protectedvirtual

Computes the score for the given speed and heading using combinedScore, and then updates bestScore and bestSpeed if the resulting score is better than combinedScore.

Parameters

applyYield	A flag to indicate that the speed/heading input corresponds to a moving obstacle that has right of way.
isStatic	A flag to indicate that speed/heading input corresponds to a static obstacle.
bestScore	In/out parameter
bestSpeed	Output parameter; changed only if the computed score is better than the bestScore input.

virtual double DtGroundMoveToObstacleAvoider::combinedScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading, const bool  yieldTo = false, const bool  isStatic = false  )

protectedvirtual

Adds all of the scoring functions. Simply adds together the scoring functions. To add a new scoring function in a plugin, override this function to add a new score, then add the result of the base combinedScore.

virtual double DtGroundMoveToObstacleAvoider::speedGreaterThanDesiredScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Functions To Compute Individual Speed-Heading Scores

These functions should be linear in speed.

virtual double DtGroundMoveToObstacleAvoider::speedLessThanDesiredScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual double DtGroundMoveToObstacleAvoider::speedInDesiredDirectionScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual double DtGroundMoveToObstacleAvoider::speedLessThanFeasibleScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual double DtGroundMoveToObstacleAvoider::speedGreaterThanFeasibleScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual double DtGroundMoveToObstacleAvoider::headingInDesiredDirectionScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual double DtGroundMoveToObstacleAvoider::yieldToScore ( const double  speed, const double  heading, const double  desiredSpeed, const double  desiredHeading  )

protectedvirtual

Combining Functions

Compute a score for a given SpeedConstraint, i.e. constrained speed intervals at a certain heading. Applies the scoring functions to the intervals. Note that since the scoring functions are (currently) linear functions of speed, only the interval end points need be scored. In addition to the interval end points in the constraint, this function computes scores at the desired speed and the minimum and maximum feasible speeds.

virtual void DtGroundMoveToObstacleAvoider::computeBodyTransform ( )

protectedvirtual

Computes the coordinate transforms for the calculations this tick. Fills in myLocalToHorizBodyXform.

virtual void DtGroundMoveToObstacleAvoider::computeHorizontalRotation ( const double  angle, DtDcm &  rot  )

protectedvirtual

Computes a 2D rotation matrix that can be used to pre-multiply a topo coordinate to make it relative to an angle. I.e., if V(x,y) is a topo vector with the given xy values, matrix * V = V'(x',y') is a vector in a coordinate system that is rotated by angle from topo.

virtual void DtGroundMoveToObstacleAvoider::markVehiclesWithRightOfWay ( const double  desiredHeading, const std::list< struct EntityObstacleData > &  vehicles  )

protectedvirtual

Mark vehicle obstacle in myVehiclesToYieldTo based on whether they are approaching the desired heading line from the side that has right of way.

virtual double DtGroundMoveToObstacleAvoider::maxSpeedForPassBehind ( const double  timeLimit, const double  distance  )

protectedvirtual

Computes the maximum speed the ownship can drive and still pass behind a moving obstacle at the given distance. Uses myBrakingLimit. The implementation does not use the timeLimit, because the fastest speed possible is achieved by going fast, decelerating at myBrakingLimit, and stopping at distance before the timeLimit. Other approaches are possible though.

virtual double DtGroundMoveToObstacleAvoider::minSpeedForPassAhead ( const double  timeLimit, const double  distance  )

protectedvirtual

Computes the minimum speed the ownship can drive and still pass ahead of a moving obstacle. This is just an estimate, as several factors are unknown or difficult to calculate. For example, the ownship will take some time to accelerate, and its acceleration ability is reduced as speed increases. This function computes the minimum speed such that if the ownship accelerates at myAccelerationLimit for timeLimit, it will go distance, which is the minimum distance it has to go in timeLimit.

virtual double DtGroundMoveToObstacleAvoider::minTurnRadiusForCurrentSpeed ( ) const

protectedvirtual

Computes the turn radius to use for turns in collision avoidance computations. Implicitly uses the current speed and the lateral acceleration limit set in the call to steeringAndSpeedThroughObstacles.

virtual double DtGroundMoveToObstacleAvoider::maxAccelerationForSpeed ( )

protectedvirtual

Returns the maximum acceleration that the vehicle can generate, considering its maxAcceleration parameter, soil and weather, and maxSpeed.

virtual double DtGroundMoveToObstacleAvoider::maxTractionForConditions ( )

protectedvirtual

Returns the maximum acceleration that the wheels/tracks can provide given the soil and weather. A positive value.

virtual double DtGroundMoveToObstacleAvoider::highestFeasibleSpeed ( ) const

protectedvirtual

Feasible Speeds

Speeds that can be reached in 1 second. Used to limit desired speed output. Set at the beginning of the function steeringAndSpeedThroughObstacles based on the entity's parametric acceleration limits, current speed, available traction, etc.; then used in computation of final desired speed.

virtual void DtGroundMoveToObstacleAvoider::setHighestFeasibleSpeed ( const double  s )

protectedvirtual

Computes the coordinate transforms for the calculations this tick. Fills in myLocalToHorizBodyXform.

virtual double DtGroundMoveToObstacleAvoider::lowestFeasibleSpeed ( ) const

protectedvirtual

Computes the coordinate transforms for the calculations this tick. Fills in myLocalToHorizBodyXform.

virtual void DtGroundMoveToObstacleAvoider::setLowestFeasibleSpeed ( const double  s )

protectedvirtual

Computes the coordinate transforms for the calculations this tick. Fills in myLocalToHorizBodyXform.

Member Data Documentation

const DtSimulationServices* DtGroundMoveToObstacleAvoider::mySimulationServices

protected

const DtLocalObject* DtGroundMoveToObstacleAvoider::myEntity

protected

const DtGroundMoveToDestinationControllerComponent* DtGroundMoveToObstacleAvoider::myParentController

protected

const DtGroundVehicleStateRepository* DtGroundMoveToObstacleAvoider::myVehicleState

protected

DtVector DtGroundMoveToObstacleAvoider::myLocalDestination

protected

bool DtGroundMoveToObstacleAvoider::myIsGoingBackwards

protected

double DtGroundMoveToObstacleAvoider::myLateralAccelerationLimit

protected

Limit from desired acceleration input and physical limits.

double DtGroundMoveToObstacleAvoider::myAccelerationLimit

protected

Highest (forward) acceleration physically possible now.

double DtGroundMoveToObstacleAvoider::myBrakingLimit

protected

Highest braking acceleration, limited by desired acceleration and physical limits. Negative.

double DtGroundMoveToObstacleAvoider::myHighestFeasibleSpeedNow

protected

Highest speed that can be achieved in 1 second given the desired acceleration and the physical limit of myAccelerationLimit.

double DtGroundMoveToObstacleAvoider::myLowestFeasibleSpeedNow

protected

Lowest speed that can be achieved in 1 second given the limitations of myBrakingLimit.

double DtGroundMoveToObstacleAvoider::myMaxSpeedForMinTurnRadius

protected

Fastest speed to use for tight turns.

double DtGroundMoveToObstacleAvoider::myCurrentAltitude

protected

Used in task visualizations.

double DtGroundMoveToObstacleAvoider::mySpeed

protected

Speed in direction of movement.

double DtGroundMoveToObstacleAvoider::myHeading

protected

Heading of movement. This is 180 degrees from heading if moving backwards.

std::set<DtSimObjectReference> DtGroundMoveToObstacleAvoider::myVehiclesToYieldTo

protected

If right of way priorities are being used, this is a set of vehicle obstacles that have the right of way, it are approaching the line to the destination from the direction defined by RoW. It is cleared and set every tick for use in action selection logic.

std::list<DtSimObjectReference> DtGroundMoveToObstacleAvoider::myCachedEntityObstacles

protected

Lists of vehicle obstacles found last time we looked.

double DtGroundMoveToObstacleAvoider::myLastEntityQueryTime

protected

bool DtGroundMoveToObstacleAvoider::myWasEmbarked

protected

Remembers embarkation state last tick. When this changes, the list of vehicle obstacles is refreshed.

std::shared_ptr<MAKVRinTerra::DtFeatureSet> DtGroundMoveToObstacleAvoider::myObstacleFeatureSet

protected

Used for feature set for last query. Held until it is loaded, and then not needed until the next query.

DtVector DtGroundMoveToObstacleAvoider::myLastObstacleSearchLocation

protected

These record the state of the entity when it made the last feature query. A new query is made when the state changes more than a threshold.

double DtGroundMoveToObstacleAvoider::myLastObstacleSearchHeading

protected

bool DtGroundMoveToObstacleAvoider::myHaveAskedForFeatureObstacles

protected

Set true when a query has been made through the terrain interface for a feature set with obstacle features.

bool DtGroundMoveToObstacleAvoider::myHaveLoadedFeatureObstacles

protected

Set true when a feature set has been loaded and the obstacles put into myCachedFeatureObstacles.

std::list<FeatureObstacleData> DtGroundMoveToObstacleAvoider::myCachedFeatureObstacles

protected

The features found the last time the terrain was queried. Vertices of lines, in local coordinates. The lines are typically area boundaries, with the first and last vertex the same location. Otherwise, an open line.
The offsetVertices in these FeatureObstacleData structures contain local coordinates instead of horizontal-body coordinates.

DtCoordTransform DtGroundMoveToObstacleAvoider::myLocalToHorizontalBody

protected

A coordinate transformation from local coordinates to a topo coordinate system that is rotated to the heading of the entity. I.e., body coordinates if the entity pitch and roll are zero.

bool DtGroundMoveToObstacleAvoider::myDebug

protected

Set by calling controller.

DtSimObjectReference DtGroundMoveToObstacleAvoider::myKeyVehicleObstacle

protected

bool DtGroundMoveToObstacleAvoider::myIsObstacleWall

protected

DtChord DtGroundMoveToObstacleAvoider::myKeyWallObstacle

protected

DtExtent DtGroundMoveToObstacleAvoider::myDynamicObstacleSearchArea

protected

For task visualization. Make these available to the calling controller. TODO.

MAKVRinTerra::DtFeatureGeometry::PointVector DtGroundMoveToObstacleAvoider::myStaticObstacleSearchArea

protected

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrfmodel/groundMoveToObstacleAvoider.h