#include <cassert>#include <limits>#include <vector>#include "steering_functions/filter/ekf.hpp"#include "steering_functions/steering_functions.hpp"
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Classes | |
| class | steering::Dubins_State_Space::Dubins_Path |
| Complete description of a Dubins path. More... | |
| class | steering::Dubins_State_Space |
| An SE(2) state space where distance is measured by the length of Dubins curves. Note that this Dubins distance is not a proper distance metric, so nearest neighbor methods that rely on distance() being a metric (such as ompl::NearestNeighborsGNAT) will not always return the true nearest neighbors or get stuck in an infinite loop. The notation and solutions in the code are taken from: A.M. Shkel and V. Lumelsky, “Classification of the Dubins set,” Robotics and Autonomous Systems, 34(4):179-202, 2001. DOI: 10.1016/S0921-8890(00)00127-5 The classification scheme described there is not actually used, since it only applies to “long” paths. More... | |
Namespaces | |
| steering | |