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. More...

#include <hc0pm_reeds_shepp_state_space.hpp>

Inheritance diagram for steering::HC0pm_Reeds_Shepp_State_Space:

[legend]

Classes
class	HC0pm_Reeds_Shepp

Public Member Functions
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...

HC_CC_RS_Path *	hc0pm_circles_rs_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...

HC_CC_RS_Path *	hc0pm_reeds_shepp (const State &state1, const State &state2) const
	Returns a sequence of turns and straight lines connecting a start and an end configuration. More...

	HC0pm_Reeds_Shepp_State_Space (double kappa, double sigma, double discretization=0.1)
	Constructor. More...

	~HC0pm_Reeds_Shepp_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< HC0pm_Reeds_Shepp >	hc0pm_reeds_shepp_
	Pimpl Idiom: unique pointer on class with families 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...

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 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.

Definition at line 74 of file hc0pm_reeds_shepp_state_space.hpp.