Class CCpmpm_Dubins_State_Space

Defined in File ccpmpm_dubins_state_space.hpp

Inheritance Relationships

Base Type

public steering::HC_CC_State_Space (Class HC_CC_State_Space)

Class Documentation

class CCpmpm_Dubins_State_Space : public steering::HC_CC_State_Space 

An implementation of continuous curvature (CC) steer for a Dubins car with either positive (p) or negative (n) max. curvature at the start and goal configuration. It evaluates all Dubins families plus the the family TTTT, where “T” stands for a turn, and returns the shortest path.

Public Functions

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

~CCpmpm_Dubins_State_Space(): Destructor.

CC_Dubins_Path *ccpmpm_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 *ccpmpm_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.