Class CC0pm_Dubins_State_Space

Defined in File cc0pm_dubins_state_space.hpp

Inheritance Relationships

Base Type

public steering::HC_CC_State_Space (Class HC_CC_State_Space)

Class Documentation

class CC0pm_Dubins_State_Space : public steering::HC_CC_State_Space 

An implementation of continuous curvature (CC) steer for a Dubins car with zero curvature at the start and either positive (p) or negative (n) max. curvature at the goal configuration. It evaluates all Dubins families and returns the shortest path.

Public Functions

CC0pm_Dubins_State_Space(double kappa, double sigma, double discretization = 0.1, bool forwards = true): Constructor.

~CC0pm_Dubins_State_Space(): Destructor.

CC_Dubins_Path *cc0pm_circles_dubins_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.

CC_Dubins_Path *cc0pm_dubins(const State &state1, const State &state2) const: Returns a sequence of turns and straight lines connecting a start and an end configuration.

double get_distance(const State &state1, const State &state2) const: Returns shortest path length from state1 to state2.

virtual std::vector<Control> get_controls(const State &state1, const State &state2) const: Returns controls of the shortest path from state1 to state2.