deploy: cd8758b

nervosys · Apr 25, 2024 · 0110603 · 0110603
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Showing 19 changed files with 181 additions and 179 deletions.
diff --git a/api/cpp/doctrees/api/classnervosys_1_1autonomylib_1_1Environment.doctree b/api/cpp/doctrees/api/classnervosys_1_1autonomylib_1_1Environment.doctree
diff --git a/api/cpp/doctrees/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.doctree b/api/cpp/doctrees/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.doctree
diff --git a/...api/file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.doctree b/...api/file_AutonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.doctree
diff --git a/...cpp/doctrees/api/program_listing_file_AutonomyLib_include_physics_Environment.hpp.doctree b/...cpp/doctrees/api/program_listing_file_AutonomyLib_include_physics_Environment.hpp.doctree
diff --git a/api/cpp/doctrees/api/program_listing_file_AutonomyLib_include_physics_Kinematics.hpp.doctree b/api/cpp/doctrees/api/program_listing_file_AutonomyLib_include_physics_Kinematics.hpp.doctree
diff --git a/api/cpp/doctrees/api/program_listing_file_AutonomyLib_include_safety_SafetyEval.hpp.doctree b/api/cpp/doctrees/api/program_listing_file_AutonomyLib_include_safety_SafetyEval.hpp.doctree
diff --git a/api/cpp/doctrees/environment.pickle b/api/cpp/doctrees/environment.pickle
diff --git a/...p/html/_sources/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.rst.txt b/...p/html/_sources/api/file_AutonomyLib_include_api_RpcLibAdaptorsBase.hpp.rst.txt
@@ -135,8 +135,6 @@ Functions
 ---------
 
 
-- :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1afb001b2ca995cc726f581621db317400`
-
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1a4f4b3060c8be9db77d0cbd4d342023ab`
 
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1aa48460dda401d585625e850d035669c3`
@@ -145,3 +143,5 @@ Functions
 
 - :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1a46cd14d414e8fc72032ef2edc817fca7`
 
+- :ref:`exhale_function_RpcLibAdaptorsBase_8hpp_1afb001b2ca995cc726f581621db317400`
+
diff --git a/...utonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.rst.txt b/...utonomyLib_include_vehicles_multirotor_api_MultirotorRpcLibAdaptors.hpp.rst.txt
@@ -91,7 +91,7 @@ Functions
 ---------
 
 
-- :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1abfcd08d1e6f1840d131bdd83c3ace4eb`
-
 - :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1a4ad96bb0b0fd837d8132bf284f81932c`
 
+- :ref:`exhale_function_MultirotorRpcLibAdaptors_8hpp_1abfcd08d1e6f1840d131bdd83c3ace4eb`
+
diff --git a/...es/api/program_listing_file_AutonomyLib_include_physics_Environment.hpp.rst.txt b/...es/api/program_listing_file_AutonomyLib_include_physics_Environment.hpp.rst.txt
@@ -27,34 +27,6 @@ Program Listing for File Environment.hpp
 
    class Environment : public UpdatableObject {
 
-     private:
-       State initial_, current_;
-       HomeGeoPoint home_geo_point_;
-       GeodeticConverter geodetic_converter_;
-
-       void updateState(State &state) {
-           geodetic_converter_.ned2Geodetic(state.position, state.geo_point);
-
-           real_T geo_pot = EarthUtils::getGeopotential(state.geo_point.altitude / 1000.0f);
-           state.temperature = EarthUtils::getStandardTemperature(geo_pot);
-           state.air_pressure = EarthUtils::getStandardPressure(geo_pot, state.temperature);
-           state.air_density = EarthUtils::getAirDensity(state.air_pressure, state.temperature);
-
-           // TODO: avoid recalculating square roots
-           state.gravity = Vector3r(0, 0, EarthUtils::getGravity(state.geo_point.altitude));
-       }
-
-     protected:
-       virtual void resetImplementation() override { current_ = initial_; }
-
-       virtual void failResetUpdateOrdering(std::string err) override {
-           unused(err);
-           // Do nothing.
-           // The environment gets reset() twice without an update() inbetween,
-           // via MultirotorPawnSimApi::reset() and CarSimApi::reset(), because
-           // those functions directly reset an environment, and also call other reset()s that reset the same environment.
-       }
-
      public:
        struct State {
            // these fields must be set at initialization time
@@ -99,6 +71,34 @@ Program Listing for File Environment.hpp
        State &getState() { return current_; }
 
        virtual void update() override { updateState(current_); }
+
+     protected:
+       virtual void resetImplementation() override { current_ = initial_; }
+
+       virtual void failResetUpdateOrdering(std::string err) override {
+           unused(err);
+           // Do nothing.
+           // The environment gets reset() twice without an update() inbetween,
+           // via MultirotorPawnSimApi::reset() and CarSimApi::reset(), because
+           // those functions directly reset an environment, and also call other reset()s that reset the same environment.
+       }
+
+     private:
+       State initial_, current_;
+       HomeGeoPoint home_geo_point_;
+       GeodeticConverter geodetic_converter_;
+
+       void updateState(State &state) {
+           geodetic_converter_.ned2Geodetic(state.position, state.geo_point);
+
+           real_T geo_pot = EarthUtils::getGeopotential(state.geo_point.altitude / 1000.0f);
+           state.temperature = EarthUtils::getStandardTemperature(geo_pot);
+           state.air_pressure = EarthUtils::getStandardPressure(geo_pot, state.temperature);
+           state.air_density = EarthUtils::getAirDensity(state.air_pressure, state.temperature);
+
+           // TODO: avoid recalculating square roots
+           state.gravity = Vector3r(0, 0, EarthUtils::getGravity(state.geo_point.altitude));
+       }
    };
 
    } // namespace autonomylib

diff --git a/...ces/api/program_listing_file_AutonomyLib_include_physics_Kinematics.hpp.rst.txt b/...ces/api/program_listing_file_AutonomyLib_include_physics_Kinematics.hpp.rst.txt
@@ -25,10 +25,6 @@ Program Listing for File Kinematics.hpp
 
    class Kinematics : public UpdatableObject {
 
-     private: // fields
-       State initial_;
-       State current_;
-
      public:
        struct State {
            Pose pose;
@@ -80,6 +76,11 @@ Program Listing for File Kinematics.hpp
        const State &getState() const { return current_; }
        void setState(const State &state) { current_ = state; }
        const State &getInitialState() const { return initial_; }
+
+     private:
+       // fields
+       State initial_;
+       State current_;
    };
 
    } // namespace autonomylib

diff --git a/...rces/api/program_listing_file_AutonomyLib_include_safety_SafetyEval.hpp.rst.txt b/...rces/api/program_listing_file_AutonomyLib_include_safety_SafetyEval.hpp.rst.txt
@@ -33,22 +33,6 @@ Program Listing for File SafetyEval.hpp
    // this class takes all inputs and outputs in NEU world coordinates in metric system
    class SafetyEval {
 
-     private:
-       MultirotorApiParams vehicle_params_;
-       shared_ptr<IGeoFence> fence_ptr_;
-       shared_ptr<ObstacleMap> obs_xy_ptr_;
-       SafetyViolationType enable_reasons_ = SafetyEval::SafetyViolationType_::GeoFence;
-       ObsAvoidanceStrategy obs_strategy_ = SafetyEval::ObsAvoidanceStrategy::RaiseException;
-
-       void checkFence(const Vector3r &cur_pos, const Vector3r &dest_pos, EvalResult &appendToResult);
-       void isSafeDestination(const Vector3r &dest, const Vector3r &cur_pos, const Quaternionr &quaternion,
-                              SafetyEval::EvalResult &result);
-       Vector3r getDestination(const Vector3r &cur_pos, const Vector3r &velocity) const;
-       bool isThisRiskDistLess(float this_risk_dist, float other_risk_dist) const;
-       void isCurrentSafer(SafetyEval::EvalResult &result);
-       void setSuggestedVelocity(SafetyEval::EvalResult &result, const Quaternionr &quaternion);
-       float adjustClearanceForPrStl(float base_clearance, float obs_confidence);
-
      public:
        enum class SafetyViolationType_ : uint {
            NoSafetyViolation = 0,
@@ -114,6 +98,22 @@ Program Listing for File SafetyEval.hpp
                       float min_z);
        void setObsAvoidanceStrategy(SafetyEval::ObsAvoidanceStrategy obs_strategy);
        SafetyEval::ObsAvoidanceStrategy getObsAvoidanceStrategy();
+
+     private:
+       MultirotorApiParams vehicle_params_;
+       shared_ptr<IGeoFence> fence_ptr_;
+       shared_ptr<ObstacleMap> obs_xy_ptr_;
+       SafetyViolationType enable_reasons_ = SafetyEval::SafetyViolationType_::GeoFence;
+       ObsAvoidanceStrategy obs_strategy_ = SafetyEval::ObsAvoidanceStrategy::RaiseException;
+
+       void checkFence(const Vector3r &cur_pos, const Vector3r &dest_pos, EvalResult &appendToResult);
+       void isSafeDestination(const Vector3r &dest, const Vector3r &cur_pos, const Quaternionr &quaternion,
+                              SafetyEval::EvalResult &result);
+       Vector3r getDestination(const Vector3r &cur_pos, const Vector3r &velocity) const;
+       bool isThisRiskDistLess(float this_risk_dist, float other_risk_dist) const;
+       void isCurrentSafer(SafetyEval::EvalResult &result);
+       void setSuggestedVelocity(SafetyEval::EvalResult &result, const Quaternionr &quaternion);
+       float adjustClearanceForPrStl(float base_clearance, float obs_confidence);
    };
 
    } // namespace autonomylib