reeds_shepp_curves_hc.cpp

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//=============================================================================
//    Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
//                     Author: Gonzalo Mier
//                        BSD-3 License
//=============================================================================
 
#include <steering_functions/hc_cc_state_space/hc00_reeds_shepp_state_space.hpp>
#include "fields2cover/path_planning/steer_to_path.hpp"
#include "fields2cover/path_planning/reeds_shepp_curves_hc.h"
 
namespace f2c::pp {
 
F2CPath ReedsSheppCurvesHC::createSimpleTurn(const F2CRobot& robot,
    double dist_start_pos, double start_angle, double end_angle) {
  steer::State start, end;
 
  start.x = 0.0;
  start.y = 0.0;
  start.theta = start_angle;
  start.kappa = 0.0;
  start.d = 0;
 
  end.x = dist_start_pos;
  end.y = 0.0;
  end.theta = end_angle;
  end.kappa = 0.0;
  end.d = 0;
 
  HC00_Reeds_Shepp_State_Space ss(
      robot.getMaxCurv(),
      robot.getMaxDiffCurv(),
      discretization);
 
  return steerStatesToPath(ss.get_path(start, end),
      robot.getTurnVel());
}
 
}  // namespace f2c::pp