Autoware.Auto
reeds_shepp_impl.cpp File Reference
#include "freespace_planner/reeds_shepp_impl.hpp"
#include <cassert>
#include <cmath>
#include <limits>
Include dependency graph for reeds_shepp_impl.cpp:

Namespaces

 autoware
 This file defines the lanelet2_map_provider_node class.
 
 autoware::planning
 
 autoware::planning::freespace_planner
 
 autoware::planning::freespace_planner::reeds_shepp
 

Functions

void toPolarCoordinates (double x, double y, double &radius, double &theta)
 
void calculateTauAndOmega (double u, double v, double xi, double eta, double phi, double &tau, double &omega)
 
double lengthFromParameters (double param_t, double param_u, double param_v)
 
void autoware::planning::freespace_planner::reeds_shepp::CSC (ReedsSheppNode node, ReedsSheppPath &path)
 Considering arc-straight-arc movement solution. More...
 
void autoware::planning::freespace_planner::reeds_shepp::CCC (ReedsSheppNode node, ReedsSheppPath &path)
 Considering arc-arc-arc movement solution. More...
 
void autoware::planning::freespace_planner::reeds_shepp::CCCC (ReedsSheppNode node, ReedsSheppPath &path)
 Considering arc-arc-arc-arc movement solution. More...
 
void autoware::planning::freespace_planner::reeds_shepp::CCSC (ReedsSheppNode node, ReedsSheppPath &path)
 Considering arc-arc-straigth-arc movement solution. More...
 
void autoware::planning::freespace_planner::reeds_shepp::CCSCC (ReedsSheppNode node, ReedsSheppPath &path)
 Considering arc-arc-straigth-arc-arc movement solution. More...
 

Variables

const double PI = M_PI
 
const double EPSILON = 1e-6
 
const double NUMERIC_ZERO = 10.0 * std::numeric_limits<double>::epsilon()
 

Function Documentation

◆ calculateTauAndOmega()

void calculateTauAndOmega ( double  u,
double  v,
double  xi,
double  eta,
double  phi,
double &  tau,
double &  omega 
)

◆ lengthFromParameters()

double lengthFromParameters ( double  param_t,
double  param_u,
double  param_v 
)

◆ toPolarCoordinates()

void toPolarCoordinates ( double  x,
double  y,
double &  radius,
double &  theta 
)

Variable Documentation

◆ EPSILON

const double EPSILON = 1e-6

◆ NUMERIC_ZERO

const double NUMERIC_ZERO = 10.0 * std::numeric_limits<double>::epsilon()

◆ PI

const double PI = M_PI