| ▼Nplot_states | |
| CPath | |
| CState | |
| ▼Nplot_statistics | |
| COutput | |
| ▼Nsteering | |
| ▼CCC00_Dubins_State_Space | An implementation of continuous curvature (CC) steer for a Dubins car with zero curvature at the start and goal configuration as described in: T. Fraichard and A. Scheuer, "From Reeds and Shepp's to continuous-curvature paths," IEEE Transactions on Robotics (Volume 20, Issue: 6, Dec. 2004). It evaluates all Dubins families and returns the shortest path |
| CCC00_Dubins | |
| ▼CCC00_Reeds_Shepp_State_Space | An implementation of continuous curvature (CC) steer for a Reeds-Shepp car with zero curvature at the start and goal configuration as described in: T. Fraichard and A. Scheuer, "From Reeds and Shepp's to continuous- curvature paths," IEEE Transactions on Robotics (Volume 20, Issue: 6, Dec. 2004). 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. Topological paths are not included in this implementation |
| CCC00_Reeds_Shepp | |
| ▼CCC0pm_Dubins_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 |
| CCC0pm_Dubins | |
| CCC_Dubins_Path | |
| CCC_Dubins_State_Space | An implementation of continuous curvature (CC) steer for a Dubins car with arbitrary curvature at the start and goal configuration |
| ▼CCCpm0_Dubins_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 zero curvature at the goal configuration. It evaluates all Dubins families and returns the shortest path |
| CCCpm0_Dubins | |
| ▼CCCpmpm_Dubins_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 |
| CCCpmpm_Dubins | |
| CConfiguration | |
| CControl | Description of a path segment with its corresponding control inputs |
| CController | Parameters of the feedback controller |
| ▼CDubins_State_Space | An SE(2) state space where distance is measured by the length of Dubins curves. Note that this Dubins distance is not a proper distance metric, so nearest neighbor methods that rely on distance() being a metric (such as ompl::NearestNeighborsGNAT) will not always return the true nearest neighbors or get stuck in an infinite loop. The notation and solutions in the code are taken from: A.M. Shkel and V. Lumelsky, “Classification of the Dubins set,” Robotics and Autonomous Systems, 34(4):179-202, 2001. DOI: 10.1016/S0921-8890(00)00127-5 The classification scheme described there is not actually used, since it only applies to “long” paths |
| CDubins_Path | Complete description of a Dubins path |
| CEKF | |
| ▼CHC00_Reeds_Shepp_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 |
| CHC00_Reeds_Shepp | |
| ▼CHC0pm_Reeds_Shepp_State_Space | An implementation of hybrid curvature (HC) steer with zero curvature at the start configuration and either positive (p) or negative (n) max. curvature at the goal configuration, also see: 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 |
| CHC0pm_Reeds_Shepp | |
| CHC_CC_Circle | |
| CHC_CC_Circle_Param | |
| CHC_CC_RS_Path | |
| CHC_CC_State_Space | |
| CHC_Reeds_Shepp_State_Space | An implementation of hybrid curvature (HC) steer with arbitrary curvature at the start and goal configuration |
| ▼CHCpm0_Reeds_Shepp_State_Space | An implementation of hybrid curvature (HC) steer with either positive (p) or negative (n) max. curvature at the start configuration and zero curvature at the goal configuration, also see: 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 |
| CHCpm0_Reeds_Shepp | |
| ▼CHCpmpm_Reeds_Shepp_State_Space | An implementation of hybrid curvature (HC) steer with either positive (p) or negative (n) max. curvature at the start and goal configuration as described in: H. Banzhaf et al., "Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic 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 |
| CHCpmpm_Reeds_Shepp | |
| CMeasurement_Noise | Parameters of the measurement noise |
| CMotion_Noise | Parameters of the motion noise model according to the book: Probabilistic Robotics, S. Thrun and others, MIT Press, 2006, p. 127-128 and p.204-206 |
| CPath | |
| ▼CReeds_Shepp_State_Space | An SE(2) state space where distance is measured by the length of Reeds-Shepp curves. The notation and solutions are taken from: J.A. Reeds and L.A. Shepp, “Optimal paths for a car that goes both forwards and backwards,” Pacific Journal of Mathematics, 145(2):367–393, 1990. This implementation explicitly computes all 48 Reeds-Shepp curves and returns the shortest valid solution. This can be improved by using the configuration space partition described in: P. Souères and J.-P. Laumond, “Shortest paths synthesis for a car-like robot,” IEEE Trans. on Automatic Control, 41(5):672–688, May 1996 |
| CReeds_Shepp_Path | Complete description of a ReedsShepp path |
| CState | Description of a kinematic car's state |
| CState_With_Covariance | Description of a kinematic car's state with covariance |
| CPathClass | |
| CRobotClass | |
| CStatistic | |
| CTest_HC_CC_State_Space |