An implementation of hybrid curvature (HC) steer with either positive (p) or negative (n) max. curvature at the start and goal configuration as described in: H. Banzhaf et al., "Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic 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 <hcpmpm_reeds_shepp_state_space.hpp>

Inheritance diagram for steering::HCpmpm_Reeds_Shepp_State_Space:

[legend]

Classes
class	HCpmpm_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 *	hcpmpm_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 *	hcpmpm_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...

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

	~HCpmpm_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
double	cos_mu_

std::unique_ptr< HCpmpm_Reeds_Shepp >	hcpmpm_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...

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 hybrid curvature (HC) steer with either positive (p) or negative (n) max. curvature at the start and goal configuration as described in: H. Banzhaf et al., "Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic 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 hcpmpm_reeds_shepp_state_space.hpp.