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. More...

#include <ccpmpm_dubins_state_space.hpp>

Inheritance diagram for steering::CCpmpm_Dubins_State_Space:

[legend]

Classes
class	CCpmpm_Dubins

Public Member Functions
CC_Dubins_Path *	ccpmpm_circles_dubins_path (const HC_CC_Circle &c1, const HC_CC_Circle &c2) const
	Returns a sequence of turns and straight lines connecting the two circles c1 and c2. More...

CC_Dubins_Path *	ccpmpm_dubins (const State &state1, const State &state2) const
	Returns a sequence of turns and straight lines connecting a start and an end configuration. More...

	CCpmpm_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...

	~CCpmpm_Dubins_State_Space ()
	Destructor. 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
std::unique_ptr< CCpmpm_Dubins >	ccpmpm_dubins_
	Pimpl Idiom: unique pointer on class with families More...

double	cos_mu_

bool	forwards_
	Driving direction. More...

double	mu_
	Angle between a configuration on the hc-/cc-circle and the tangent to the circle at that position. More...

double	radius_
	Outer radius of a hc-/cc-circle. More...

HC_CC_Circle_Param	rs_circle_param_
	Parameter of a rs-circle. More...

double	sin_mu_
	Sine and cosine of mu. 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 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.

Definition at line 70 of file ccpmpm_dubins_state_space.hpp.