galaxis::control Namespace Reference

Classes
class	CarPose
class	TwoAndAHalfCarrots

Typedefs
typedef std::vector< std::shared_ptr< CarPose > >	CarPoseSeries

Functions
std::shared_ptr< CarPose >	get_new_pose (std::shared_ptr< CarPose > const p_currentPoseSPtr, float p_carWheelbase, float p_distance, float p_yawDiff)
std::ostream &	operator<< (std::ostream &strm, CarPose const &pose)

Typedef Documentation

CarPoseSeries

typedef std::vector<std::shared_ptr<CarPose> > galaxis::control::CarPoseSeries

Definition at line 20 of file pose.hpp.

Function Documentation

get_new_pose()

std::shared_ptr< CarPose > galaxis::control::get_new_pose	(	std::shared_ptr< CarPose > const	p_currentPoseSPtr,
		float	p_carWheelbase,
		float	p_distance,
		float	p_yawDiff
	)

Definition at line 168 of file control.cpp.

                                                                                                                                                           {
  std::shared_ptr<CarPose> newPoseSPtr = std::make_shared<CarPose>();
  newPoseSPtr->position                = p_currentPoseSPtr->position;
  newPoseSPtr->orientation             = p_currentPoseSPtr->orientation;
 
  Eigen::Rotation2Df rotation(p_currentPoseSPtr->orientation);
 
  // filter edge case
  if(std::sin(p_yawDiff) == 0) {
    Eigen::Vector2f distance(p_distance, 0);
    newPoseSPtr->position += rotation * distance;
    return newPoseSPtr;
  }
 
  // r = L/sin(steering_angle)
  float radiusOfSteeringCircle = p_carWheelbase / std::sin(p_yawDiff);
  // U = 2PI * r
  float steeringCircumference = 2 * MATH_PI * radiusOfSteeringCircle;
  // angle = distance / circumference * 2PI
  float circleDrivenAngle = p_distance / steeringCircumference * 2 * MATH_PI;
 
  float directDistanceBetweenStartAndNewPose = 2 * std::sin(circleDrivenAngle / 2) * radiusOfSteeringCircle;
 
  Eigen::Vector2f position(0, 0);
  position[0] = directDistanceBetweenStartAndNewPose * std::cos(circleDrivenAngle / 2);
  position[1] = directDistanceBetweenStartAndNewPose * std::sin(circleDrivenAngle / 2);
 
  // Rotate new position with old orientation
  position = rotation * position;
 
  newPoseSPtr->position += position;
  newPoseSPtr->orientation += circleDrivenAngle;
 
  return newPoseSPtr;
}

References MATH_PI.

Referenced by galaxis::control::TwoAndAHalfCarrots::get_pose_series(), and SimulationAdapterNode::updatePose().

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operator<<()

std::ostream& galaxis::control::operator<<	(	std::ostream &	strm,
		CarPose const &	pose
	)

Definition at line 13 of file pose.cpp.

                                                              {
  return strm << "(" << pose.position[0] << ", " << pose.position[1] << "; " << pose.orientation << ")";
}

References galaxis::control::CarPose::orientation, and galaxis::control::CarPose::position.