Class Reeds_Shepp_State_Space

Nested Relationships

Nested Types

Class Documentation

class 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.

Public Types

enum Reeds_Shepp_Path_Segment_Type

The Reeds-Shepp path segment types.

Values:

enumerator RS_NOP
enumerator RS_LEFT
enumerator RS_STRAIGHT
enumerator RS_RIGHT

Public Functions

inline Reeds_Shepp_State_Space(double kappa, double discretization = 0.1)

Constructor of the Reeds_Shepp_State_Space.

void set_filter_parameters(const Motion_Noise &motion_noise, const Measurement_Noise &measurement_noise, const Controller &controller)

Sets the parameters required by the filter.

Reeds_Shepp_Path reeds_shepp(const State &state1, const State &state2) const

Returns type and length of segments of path from state1 to state2 with curvature = 1.0.

double get_distance(const State &state1, const State &state2) const

Returns shortest path length from state1 to state2 with curvature = kappa_.

std::vector<Control> get_controls(const State &state1, const State &state2) const

Returns controls of the shortest path from state1 to state2 with curvature = kappa_.

std::vector<State> get_path(const State &state1, const State &state2) const

Returns shortest path from state1 to state2 with curvature = kappa_.

std::vector<State_With_Covariance> get_path_with_covariance(const State_With_Covariance &state1, const State &state2) const

Returns shortest path including covariances from state1 to state2 with curvature = kappa_.

std::vector<State> integrate(const State &state, const std::vector<Control> &controls) const

Returns integrated states given a start state and controls with curvature = kappa_.

std::vector<State_With_Covariance> integrate_with_covariance(const State_With_Covariance &state, const std::vector<Control> &controls) const

Returns integrated states including covariance given a start state and controls with curvature = kappa_.

State interpolate(const State &state, const std::vector<Control> &controls, double t) const

Returns interpolated state at distance t in [0,1] (percent of total path length with curvature = kappa_)

inline State integrate_ODE(const State &state, const Control &control, double integration_step) const

Returns integrated state given a start state, a control, and an integration step.

Public Static Attributes

static const Reeds_Shepp_Path_Segment_Type reeds_shepp_path_type[18][5]

Reeds-Shepp path types.

class Reeds_Shepp_Path

Complete description of a ReedsShepp path.

Public Functions

Reeds_Shepp_Path(const Reeds_Shepp_Path_Segment_Type *type = reeds_shepp_path_type[0], double t = std::numeric_limits<double>::max(), double u = 0., double v = 0., double w = 0., double x = 0.)

Constructor of the Reeds_Shepp_Path.

inline double length() const