#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::Reeds_Shepp_State_Space::Reeds_Shepp_Path |
| Complete description of a ReedsShepp path. More... | |
| class | steering::Reeds_Shepp_State_Space |
| An SE(2) state space where distance is measured by the length of Reeds-Shepp curves. The notation and solutions are taken from: J.A. Reeds and L.A. Shepp, “Optimal paths for a car that goes both forwards and backwards,” Pacific Journal of Mathematics, 145(2):367–393, 1990. This implementation explicitly computes all 48 Reeds-Shepp curves and returns the shortest valid solution. This can be improved by using the configuration space partition described in: P. Souères and J.-P. Laumond, “Shortest paths synthesis for a car-like robot,” IEEE Trans. on Automatic Control, 41(5):672–688, May 1996. More... | |
Namespaces | |
| steering | |