Controllers and Drivers

Description

Collaboration diagram for Controllers and Drivers:

Functions
double	chrono::synchrono::DistanceToLine (ChVector3d p, ChVector3d l1, ChVector3d l2)
bool	chrono::synchrono::IsInsideBox (ChVector3d pos, ChVector3d front, ChVector3d back, double width)
	front, back and width define a box, check if pos is inside that box More...
bool	chrono::synchrono::IsInsideQuad (ChVector3d pos, ChVector3d sp1, ChVector3d sp2, ChVector3d cp3, ChVector3d cp4)
	Checks if pos is inside the (assumed convex) quadrilateral defined by vectors for each vertex.
void	chrono::synchrono::Barycentric (ChVector3d p, ChVector3d a, ChVector3d b, ChVector3d c, double &u, double &v, double &w)
	Compute barycentric coordinates (u, v, w) for point p with respect to triangle (a, b, c)
void	chrono::synchrono::UpdateLaneInfoFromMAP (std::shared_ptr< SynMessage > synmsg, ChVector3d 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 (std::shared_ptr< SynApproachMessage > app_msg, ChVector3d 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 (std::shared_ptr< SynMessage > synmsg, ChVector3d veh_pos, int &current_lane, bool &inside_box, double &dist)
	calls UpdateInsideBoxFromApproachMessage
LaneColor	chrono::synchrono::GetLaneColorFromMessage (std::shared_ptr< 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	(	ChVector3d	p,
		ChVector3d	l1,
		ChVector3d	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	(	ChVector3d	pos,
		ChVector3d	front,
		ChVector3d	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	(	std::shared_ptr< SynMessage >	synmsg,
		ChVector3d	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)