paths.hpp File Reference

#include <numeric>
#include <vector>
#include "steering_functions/hc_cc_state_space/configuration.hpp"
#include "steering_functions/hc_cc_state_space/hc_cc_circle.hpp"
#include "steering_functions/steering_functions.hpp"

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Classes
class	steering::CC_Dubins_Path
class	steering::HC_CC_RS_Path
class	steering::Path

Namespaces
	steering
	steering::cc_dubins
	cc-dubins path types: E (Empty), S (Straight), T (Turn)
	steering::hc_cc_rs
	hc-/cc-reeds-shepp path types: E (Empty), S (Straight), T (Turn), c (Cusp)

Enumerations
enum	steering::cc_dubins::path_type {   steering::cc_dubins::E, steering::cc_dubins::S, steering::cc_dubins::T, steering::cc_dubins::TT,   steering::cc_dubins::TST, steering::cc_dubins::TTT, steering::cc_dubins::TTTT }
enum	steering::hc_cc_rs::path_type {   steering::hc_cc_rs::E, steering::hc_cc_rs::S, steering::hc_cc_rs::T, steering::hc_cc_rs::TT,   steering::hc_cc_rs::TcT, steering::hc_cc_rs::TcTcT, steering::hc_cc_rs::TcTT, steering::hc_cc_rs::TTcT,   steering::hc_cc_rs::TST, steering::hc_cc_rs::TSTcT, steering::hc_cc_rs::TcTST, steering::hc_cc_rs::TcTSTcT,   steering::hc_cc_rs::TTcTT, steering::hc_cc_rs::TcTTcT, steering::hc_cc_rs::TTT, steering::hc_cc_rs::TcST,   steering::hc_cc_rs::TScT, steering::hc_cc_rs::TcScT }

Functions
void	steering::cc_default_controls (const HC_CC_Circle &c, const Configuration &q, double delta, bool order, std::vector< Control > &controls)
	Appends controls with a default cc-turn consisting of two clothoids and a circular arc. More...
bool	steering::cc_elementary_controls (const HC_CC_Circle &c, const Configuration &q, double delta, bool order, std::vector< Control > &controls)
	Appends controls with an elementary path if one exists. More...
void	steering::cc_turn_controls (const HC_CC_Circle &c, const Configuration &q, bool order, std::vector< Control > &controls)
	Appends controls with a cc-turn. More...
void	steering::empty_controls (std::vector< Control > &controls)
	Appends controls with 0 input. More...
void	steering::hc_turn_controls (const HC_CC_Circle &c, const Configuration &q, bool order, std::vector< Control > &controls)
	Appends controls with a hc-turn. More...
void	steering::reverse_control (Control &control)
	Reverses a control. More...
void	steering::rs_turn_controls (const HC_CC_Circle &c, const Configuration &q, bool order, std::vector< Control > &controls)
	Appends controls with a rs-turn. More...
bool	steering::state_equal (const State &state1, const State &state2)
	Checks whether two states are equal. More...
void	steering::straight_controls (const Configuration &q1, const Configuration &q2, std::vector< Control > &controls)
	Appends controls with a straight line. More...
Control	steering::subtract_control (const Control &control1, const Control &control2)
	Subtracts control2 from control1. More...

Variables
const int	steering::nb_cc_dubins_paths = 7
const int	steering::nb_hc_cc_rs_paths = 18