An implementation of continuous curvature (CC) steer for a Dubins car with arbitrary curvature at the start and goal configuration. More...
#include <cc_dubins_state_space.hpp>
Public Member Functions | |
| CC_Dubins_State_Space (double kappa, double sigma, double discretization=0.1, bool forwards=true) | |
| Constructor. More... | |
| std::vector< Control > | get_controls (const State &state1, const State &state2) const |
| Returns controls of the shortest path from state1 to state2. More... | |
| double | get_distance (const State &state1, const State &state2) const |
| Returns shortest path length from state1 to state2. More... | |
| std::vector< std::pair< State, Control > > | predict_state (const State &state, bool forwards) const |
| Predicts a state forwards or backwards to zero and max. curvature. More... | |
 Public Member Functions inherited from steering::HC_CC_State_Space | |
| std::vector< State > | get_path (const State &state1, const State &state2) const |
| Returns path from state1 to state2. More... | |
| std::vector< State_With_Covariance > | get_path_with_covariance (const State_With_Covariance &state1, const State &state2) const |
| Returns path including covariances from state1 to state2. More... | |
| HC_CC_State_Space (double kappa, double sigma, double discretization) | |
| Constructor. More... | |
| std::vector< State > | integrate (const State &state, const std::vector< Control > &controls) const |
| Returns integrated states given a start state and controls. More... | |
| State | integrate_ODE (const State &state, const Control &control, double integration_step) const |
| Returns integrated state given a start state, a control, and an integration step. More... | |
| std::vector< State_With_Covariance > | integrate_with_covariance (const State_With_Covariance &state, const std::vector< Control > &controls) const |
| Returns integrated states including covariance given a start state and controls. More... | |
| State | interpolate (const State &state, const std::vector< Control > &controls, double t) const |
| Returns interpolated state at distance t in [0,1] (percentage of total path length) More... | |
| void | set_filter_parameters (const Motion_Noise &motion_noise, const Measurement_Noise &measurement_noise, const Controller &controller) |
| Sets the parameters required by the filter. More... | |
Private Attributes | |
| CC00_Dubins_State_Space | cc00_dubins_state_space_ |
| Required state spaces. More... | |
| CC0pm_Dubins_State_Space | cc0pm_dubins_state_space_ |
| CCpm0_Dubins_State_Space | ccpm0_dubins_state_space_ |
| CCpmpm_Dubins_State_Space | ccpmpm_dubins_state_space_ |
| bool | forwards_ |
| Driving direction. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from steering::HC_CC_State_Space | |
| double | discretization_ |
| Discretization of path. More... | |
| EKF | ekf_ |
| Extended Kalman Filter for uncertainty propagation. More... | |
| HC_CC_Circle_Param | hc_cc_circle_param_ |
| Parameters of a hc-/cc-circle. More... | |
| double | kappa_ |
| Curvature, sharpness of clothoid. More... | |
| double | sigma_ |
Detailed Description
An implementation of continuous curvature (CC) steer for a Dubins car with arbitrary curvature at the start and goal configuration.
Definition at line 54 of file cc_dubins_state_space.hpp.
Constructor & Destructor Documentation
◆ CC_Dubins_State_Space()
| steering::CC_Dubins_State_Space::CC_Dubins_State_Space | ( | double | kappa, |
| double | sigma, | ||
| double | discretization = 0.1, |
||
| bool | forwards = true |
||
| ) |
Constructor.
Definition at line 29 of file cc_dubins_state_space.cpp.
Member Function Documentation
◆ get_controls()
|
virtual |
Returns controls of the shortest path from state1 to state2.
Implements steering::HC_CC_State_Space.
Definition at line 149 of file cc_dubins_state_space.cpp.
◆ get_distance()
| double steering::CC_Dubins_State_Space::get_distance | ( | const State & | state1, |
| const State & | state2 | ||
| ) | const |
Returns shortest path length from state1 to state2.
Definition at line 97 of file cc_dubins_state_space.cpp.
◆ predict_state()
| vector< pair< State, Control > > steering::CC_Dubins_State_Space::predict_state | ( | const State & | state, |
| bool | forwards | ||
| ) | const |
Predicts a state forwards or backwards to zero and max. curvature.
Definition at line 39 of file cc_dubins_state_space.cpp.
Member Data Documentation
◆ cc00_dubins_state_space_
|
private |
Required state spaces.
Definition at line 89 of file cc_dubins_state_space.hpp.
◆ cc0pm_dubins_state_space_
|
private |
Definition at line 90 of file cc_dubins_state_space.hpp.
◆ ccpm0_dubins_state_space_
|
private |
Definition at line 91 of file cc_dubins_state_space.hpp.
◆ ccpmpm_dubins_state_space_
|
private |
Definition at line 92 of file cc_dubins_state_space.hpp.
◆ forwards_
|
private |
Driving direction.
Definition at line 86 of file cc_dubins_state_space.hpp.
The documentation for this class was generated from the following files: