Autonomy_Software/AvoidanceState_8h_source.html

#ifndef AVOIDANCE_STATE_H

#define AVOIDANCE_STATE_H


#include "../algorithms/controllers/StanleyController.h"

#include "../algorithms/planners/AStar.h"

#include "../interfaces/State.hpp"

#include "../util/GeospatialOperations.hpp"

#include "../util/states/StuckDetection.hpp"


namespace statemachine

{


    class AvoidanceState : public State

    {

        private:

            statemachine::TimeIntervalBasedStuckDetector m_stStuckChecker;

            pathplanners::AStar m_stPlanner;

            controllers::StanleyController m_stController;

            geoops::RoverPose m_stPose;

            geoops::UTMCoordinate m_stStart;

            geoops::UTMCoordinate m_stGoal;

            geoops::Waypoint m_stGoalWaypoint;

            std::vector<geoops::UTMCoordinate> m_vPlannedRoute;

            States m_eTriggeringState;

            bool m_bInitialized;


        protected:

            void Start() override;

            void Exit() override;


        public:

            AvoidanceState();

            void Run() override;

            States TriggerEvent(Event eEvent) override;

    };


}    // namespace statemachine


#endif    // AVOIDANCESTATE_H

controllers::StanleyController
Provides an implementation of a lightweight lateral StanleyController. This algorithm is used to prec...
Definition StanleyController.h:50

pathplanners::AStar
Implements the A* (ASTAR) algorithm with the ability to plan paths around obstacles and provide path ...
Definition AStar.h:42

statemachine::AvoidanceState
The AvoidanceState class implements the Avoidance state for the Autonomy State Machine.
Definition AvoidanceState.h:36

statemachine::AvoidanceState::Start
void Start() override
This method is called when the state is first started. It is used to initialize the state.
Definition AvoidanceState.cpp:31

statemachine::AvoidanceState::AvoidanceState
AvoidanceState()
Construct a new State object.
Definition AvoidanceState.cpp:93

statemachine::AvoidanceState::Exit
void Exit() override
This method is called when the state is exited. It is used to clean up the state.
Definition AvoidanceState.cpp:74

statemachine::AvoidanceState::TriggerEvent
States TriggerEvent(Event eEvent) override
Trigger an event in the state machine. Returns the next state.
Definition AvoidanceState.cpp:173

statemachine::AvoidanceState::Run
void Run() override
Run the state machine. Returns the next state.
Definition AvoidanceState.cpp:116

statemachine::State
The abstract state class. All states inherit from this class.
Definition State.hpp:115

statemachine::TimeIntervalBasedStuckDetector
This class should be instantiated within another state to be used for detection of if the rover is st...
Definition StuckDetection.hpp:43

statemachine
Namespace containing all state machine related classes.
Definition State.hpp:23

statemachine::Event
Event
The events that can be triggered in the state machine.
Definition State.hpp:54

statemachine::States
States
The states that the state machine can be in.
Definition State.hpp:31

geoops::RoverPose
This struct is used by the WaypointHandler to provide an easy way to store all pose data about the ro...
Definition GeospatialOperations.hpp:674

geoops::UTMCoordinate
This struct stores/contains information about a UTM coordinate.
Definition GeospatialOperations.hpp:244

geoops::Waypoint
This struct is used by the WaypointHandler class to store location, size, and type information about ...
Definition GeospatialOperations.hpp:551