Class CC_Dubins_State_Space

Defined in File cc_dubins_state_space.hpp

Inheritance Relationships

Base Type

public steering::HC_CC_State_Space (Class HC_CC_State_Space)

Class Documentation

class CC_Dubins_State_Space : public steering::HC_CC_State_Space 

An implementation of continuous curvature (CC) steer for a Dubins car with arbitrary curvature at the start and goal configuration.

Public Functions

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

std::vector<std::pair<State, Control>> predict_state(const State &state, bool forwards) const: Predicts a state forwards or backwards to zero and max. curvature.

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.