ShmemVehPoseSource Class Reference

Implements the VehPoseSource interface class which reads data from a shared memory region. More...

Inheritance diagram for ShmemVehPoseSource:

[legend]Collaboration diagram for ShmemVehPoseSource:

[legend]List of all members.

Public Member Functions
	ShmemVehPoseSource ()
virtual	~ShmemVehPoseSource ()
virtual bool	getPose (utils::Time time, VehPose &pose)
	Returns the vehicle pose at the given time. The implementation will attempt to interpolate or extrapolate from known poses to get the pose at the desired time. Parameters: [in]  time  The time for which to get the vehicle pose. [out]  pose  The resulting vehicle pose Returns: true if the routine was able to obtain a vehicle pose at the desired time, false if not.
virtual bool	getCurPose (utils::Time &time, VehPose &pose, bool blocking=0)
	Returns the latest vehicle pose along with the time at which it was collected. The call can be blocking, i.e., we block until the next unread vehicle pose is acquired, but it is usually polling, i.e., it returns immediately with the most recent vehicle pose Parameters: [out]  time  The time at which the road information was collected. (0 if the road is invalid) [out]  pose  The vehicle pose [in]  blocking  If true, then the call is blocking, if false, it is polling. Returns: true if "new" data has been acquired successfully, false on an invalid read or if no new road data has been acquired since the last read. Note an invalid read can be verified by checking to see if time.isZero() is true.
bool	init (utils::ConfigFile &params, utils::SymbolTable *globals)
	initialize
Static Public Member Functions
static void	interpolate (const VehPoseShmemStruct &prev_pose, const VehPoseShmemStruct &next_pose, double t, VehPose &veh_pose)
	interpolate shmem structures

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Detailed Description

Implements the VehPoseSource interface class which reads data from a shared memory region.

This pose source is a little tricky in that it initiates a thread which collects the poses as they come through the shared memory individually and maintains a ring buffer which can be used, through interpolation and extrapolation, to generate poses anytime in the recent past or very near future. Pose requests too old to be in the ring buffer or too far in the future fail.

Tag: shmem
Parameters:

• history_length: integer, default 100
  Size of the history ring buffer.
• max_extrapolation: float, default 0.2
  How far into the future to allow extrapolation
• ipt_spec: specification, default {unix: port=0; }
  If no IPT communicator has been built, use this to build one.
• name: string, default VehPose
  If mem is not defined, create an owned, managed shared memory region with this name
• machine: string, no default
  If mem is not defined, memory is on the machine named machine (empty implies local host)
• port: integer, default 1389
  If mem is not defined, specifies the memory manager port.
• mem: specification, no default
  The optional, specific shared memory specification. If it is defined we ignore name, machine, and port.

Definition at line 49 of file ShmemVehPoseSource.cc.

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

• ShmemVehPoseSource.cc

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