Template Function nav2_constrained_smoother::tangentDir

Function Documentation

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

Direction of a line which contains pt and is tangential to arc between pt_prev, pt, pt_next.

Parameters:

  • pt_prev – Starting point of the arc

  • pt – Mid point of the arc, lying on the tangential line

  • pt_next – Last point of the arc

  • is_cusp – True if pt is a cusp point

Returns:

Tangential line direction. Note: the sign of tangentDir is undefined here, should be assigned in post-process depending on movement direction. Also, for speed reasons, direction vector is not normalized.