Class HC00_Reeds_Shepp_State_Space
Defined in File hc00_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 HC00_Reeds_Shepp_State_Space : public steering::HC_CC_State_Space
An implementation of hybrid curvature (HC) steer with zero curvature at the start and goal configuration as described in: H. Banzhaf et al., “Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Non-
holonomic Motion Planning in Tight Environments,” IEEE International Conference on Intelligent Transportation Systems (Oct. 2017). 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.
Public Functions
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HC00_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1)
Constructor.
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~HC00_Reeds_Shepp_State_Space()
Destructor.
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HC_CC_RS_Path *hc00_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 *hc00_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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HC00_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1)