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| int | steering::array_index_min (double array[], int size) |
| | Find index with minimal value in double array. More...
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| void | steering::double_array_init (double array[], int size, double value) |
| | Initialize an array with a given value. More...
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| void | steering::end_of_circular_arc (double x_i, double y_i, double theta_i, double kappa, double direction, double length, double *x_f, double *y_f, double *theta_f) |
| | Computation of the end point on a circular arc x_i, y_i, theta_i: initial configuration kappa: curvature of circular arc direction: driving direction {-1.0, 1.0} length: arc length (positive) x_f, y_f, theta_f: final configuration on circular arc. More...
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| void | steering::end_of_clothoid (double x_i, double y_i, double theta_i, double kappa_i, double sigma, double direction, double length, double *x_f, double *y_f, double *theta_f, double *kappa_f) |
| | Computation of the end point on a clothoid x_i, y_i, theta_i, kappa_i: initial configuration sigma: sharpness of clothoid direction: driving direction {-1.0, 1.0} length: length of clothoid (positive) x_f, y_f, theta_f, kappa_f: final configuration on clothoid. More...
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| void | steering::end_of_straight_line (double x_i, double y_i, double theta, double direction, double length, double *x_f, double *y_f) |
| | Computation of the end point on a straight line x_i, y_i: initial configuration theta: angle of straight line direction: driving direction {-1.0, 1.0} length: line length (positive) x_f, y_f: final configuration on straight line. More...
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| void | steering::fresnel (double s, double &S_f, double &C_f) |
| | Fresnel integrals: S_f = int_0_s(sin(pi/2 u*u)du), C_f = int_0_s(cos(pi/2 u*u)du) approximated with Chebyshev polynomials. More...
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| double | steering::get_epsilon () |
| | Return value of epsilon. More...
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| void | steering::global_frame_change (double x, double y, double theta, double local_x, double local_y, double *global_x, double *global_y) |
| | Transformation of (local_x, local_y) from local coordinate system to global one. More...
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| void | steering::local_frame_change (double x, double y, double theta, double global_x, double global_y, double *local_x, double *local_y) |
| | Transformation of (global_x, global_y) from global coordinate system to local one. More...
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| double | steering::pify (double alpha) |
| | Conversion of arbitrary angle given in [rad] to [-pi, pi[. More...
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| double | steering::point_distance (double x1, double y1, double x2, double y2) |
| | Cartesian distance between two points. More...
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| void | steering::pointer_array_init (void *array[], int size) |
| | Initialize an array with nullptr. More...
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| void | steering::polar (double x, double y, double &r, double &theta) |
| | Computation of a point's polar coordinates. More...
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| double | steering::sgn (double x) |
| | Return sign of a number. More...
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| double | steering::twopify (double alpha) |
| | Conversion of arbitrary angle given in [rad] to [0, 2*pi[. More...
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