Class DubinsCurvesCC

• Defined in File dubins_curves_cc.h

Inheritance Relationships

Base Type

• public f2c::pp::TurningBase (Class TurningBase)

Class Documentation

class DubinsCurvesCC : public f2c::pp::TurningBase

Dubins’ curves planner with continuous curves.

Public Functions

virtual F2CPath createSimpleTurn(const F2CRobot &robot, double dist_start_pos, double start_angle, double end_angle) override

Create a turn.

Parameters:

• dist_start_pos – Distance between start and end point

• start_angle – Angle when going into the headland (0 deg is the angle of the headland)

• end_angle – Angle when going out of the headland

F2CPath createConstrainedTurn(const F2CRobot &robot, const F2CPoint &start_pos, double start_angle, double start_curvature, const F2CPoint &end_pos, double end_angle, double end_curvature, const bool fix_loops = false)