Class CC00_Reeds_Shepp_State_Space
Defined in File cc00_reeds_shepp_state_space.hpp
Inheritance Relationships
Base Type
public steering::HC_CC_State_Space(Class HC_CC_State_Space)
Class Documentation
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class CC00_Reeds_Shepp_State_Space : public steering::HC_CC_State_Space
An implementation of continuous curvature (CC) steer for a Reeds-Shepp car with zero curvature at the start and goal configuration as described in: T. Fraichard and A. Scheuer, “From Reeds and Shepp’s to continuous-
curvature paths,” IEEE Transactions on Robotics (Volume 20, Issue: 6, Dec. 2004). It evaluates all Reeds-Shepp families plus the four families TTT, TcST, TScT, TcScT, where “T” stands for a turn, “S” for a straight line and “c” for a cusp, and returns the shortest path. Topological paths are not included in this implementation.
Public Functions
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CC00_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1)
Constructor.
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~CC00_Reeds_Shepp_State_Space()
Destructor.
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HC_CC_RS_Path *cc00_circles_rs_path(const HC_CC_Circle &c1, const HC_CC_Circle &c2) const
Returns a sequence of turns and straight lines connecting the two circles c1 and c2.
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HC_CC_RS_Path *cc00_reeds_shepp(const State &state1, const State &state2) const
Returns a sequence of turns and straight lines connecting a start and an end configuration.
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CC00_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1)