Class HC_Reeds_Shepp_State_Space

Defined in File hc_reeds_shepp_state_space.hpp

Inheritance Relationships

Base Type

public steering::HC_CC_State_Space (Class HC_CC_State_Space)

Class Documentation

class HC_Reeds_Shepp_State_Space : public steering::HC_CC_State_Space 

An implementation of hybrid curvature (HC) steer with arbitrary curvature at the start and goal configuration.

Public Functions

HC_Reeds_Shepp_State_Space(double kappa, double sigma, double discretization = 0.1): Constructor.

std::vector<std::pair<State, Control>> predict_state(const State &state) const: Predicts a state forwards and 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.