Brains and Drivers

Description

Collaboration diagram for Brains and Drivers:

Classes
class	chrono::synchrono::SynACCBrain
	Vehicle Brain instance that instructs its vehicle to follow a given curve and stop based on lidar data and traffic light message data. More...
class	chrono::synchrono::SynBrain
	Base class for any brain - must Advance the state of physics, Synchronize state with others and Process Messages. More...
class	chrono::synchrono::SynCollisionBrain
	Detects when this vehicle is "nearby" other (target_rank) vehicles and calls a user-provided callback function in such a case. More...
class	chrono::synchrono::SynEnvironmentBrain
	All logic happens in the EnvironmentAgent class, but we still need an empty concrete class here. More...
class	chrono::synchrono::SynQueryEnvBrain
	Vehicle Brain instance that instructs its vehicle to follow a given curve and stop based on zombie agent and traffic light message data. More...
class	chrono::synchrono::SynVehicleBrain
	Enforces having a ChDriver, and getting inputs from said driver to pass to a ChVehicle. More...

Functions
double	chrono::synchrono::DistanceToLine (ChVector<> p, ChVector<> l1, ChVector<> l2)
bool	chrono::synchrono::IsInsideBox (ChVector<> pos, ChVector<> front, ChVector<> back, double width)
	front, back and width define a box, check if pos is inside that box More...
bool	chrono::synchrono::IsInsideQuad (ChVector<> pos, ChVector<> sp1, ChVector<> sp2, ChVector<> cp3, ChVector<> cp4)
	Checks if pos is inside the (assumed convex) quadrilateral defined by vectors for each vertex.
void	chrono::synchrono::Barycentric (ChVector<> p, ChVector<> a, ChVector<> b, ChVector<> c, float &u, float &v, float &w)
	Compute barycentric coordinates (u, v, w) for point p with respect to triangle (a, b, c)
void	chrono::synchrono::UpdateLaneInfoFromMAP (SynMessage *synmsg, ChVector<> veh_pos, const int &rank, bool &inside_box, int &current_lane, int &current_approach, int &current_intersection, double &dist)
	update inside_box, dist and current_* variables based on info from a MAP message More...
void	chrono::synchrono::UpdateInsideBoxFromApproachMessage (SynApproachMessage &app_msg, ChVector<> veh_pos, int &current_lane, bool &inside_box, double &dist)
	update current_lane, inside_box and dist based on info from an Approach Message
void	chrono::synchrono::UpdateInsideBoxFromMessage (SynMessage *synmsg, ChVector<> veh_pos, int &current_lane, bool &inside_box, double &dist)
	calls UpdateInsideBoxFromApproachMessage
LaneColor	chrono::synchrono::GetLaneColorFromMessage (SynMessage *synmsg, const int intersection, const int approach, const int lane)
	Given an intersection, approach and lane, parse a SPAT message (synmsg) and return the lane color.

Function Documentation

DistanceToLine()

double chrono::synchrono::DistanceToLine	(	ChVector<>	p,
		ChVector<>	l1,
		ChVector<>	l2
	)

Parameters

p	point that the distance is computed from
l1	one end of the line
l2	other end of the line

IsInsideBox()

bool chrono::synchrono::IsInsideBox	(	ChVector<>	pos,
		ChVector<>	front,
		ChVector<>	back,
		double	width
	)

front, back and width define a box, check if pos is inside that box

Parameters

pos	vector position to be checked against the box
front	vector position, line between this and back divides the box into two rectangles
back	vector defining the back center of the box rectangle
width	i.e. box_area = width * (front - back).length

UpdateLaneInfoFromMAP()

void chrono::synchrono::UpdateLaneInfoFromMAP	(	SynMessage *	synmsg,
		ChVector<>	veh_pos,
		const int &	rank,
		bool &	inside_box,
		int &	current_lane,
		int &	current_approach,
		int &	current_intersection,
		double &	dist
	)

update inside_box, dist and current_* variables based on info from a MAP message

Parameters

	synmsg	must be castable to type SynMAPMessage
	veh_pos	current GREF vector location of the vehicle
	rank	of the vehicle we are checking
[in,out]	inside_box	whether the vehicle was in the stopping box for this particular lane
[in,out]	current_lane	if we're in a box, which lane that belonged to
[in,out]	current_approach	if we're in a box, which approach that belonged to
[in,out]	current_intersection	if we're in a box, which intersection that belonged to
[in,out]	dist	if vehicle is in box, how far is the vehicle from the box's stopping point (front of the box)