Template Function nav2_constrained_smoother::arcCenter

Function Documentation

template<typename T>
inline Eigen::Matrix<T, 2, 1> nav2_constrained_smoother::arcCenter(Eigen::Matrix<T, 2, 1> pt_prev, Eigen::Matrix<T, 2, 1> pt, Eigen::Matrix<T, 2, 1> pt_next, bool is_cusp)

Center of an arc between three points.

Parameters:

  • pt_prev – Starting point of the arc

  • pt – Mid point of the arc

  • pt_next – Last point of the arc

  • is_cusp – True if pt is a cusp point

Returns:

position of the center or Vector2(inf, inf) for straight lines and 180 deg turns