PathState
A structure to hold the data of the path. More...
#include <States.h>
Public Attributes
| Name | |
|---|---|
| double | gamma The value of gamma used in the computations for this values. |
| Eigen::Vector3d | pd Desired position and its derivatives. |
| Eigen::Vector3d | d_pd |
| Eigen::Vector3d | dd_pd |
| double | psi Other properties of the path such as the psi, curvature and tangent_norm. |
| double | curvature |
| double | tangent_norm |
| double | vd The desired speed for a given gamma. |
| double | d_vd |
| double | vehicle_speed |
| double | vc The correction speed for gamma (when cooperating with other vehicles. |
| double | gamma_min Properties related to the boundaries of the parameterization of the path. |
| double | gamma_max |
Detailed Description
struct PathState;
A structure to hold the data of the path.
Author:
- Marcelo Jacinto
- Joao Quintas
- Joao Cruz
- Hung Tuan
Version: 1.0a
Date: 2021
Copyright: MIT
Public Attributes Documentation
variable gamma
double gamma {0.0};
The value of gamma used in the computations for this values.
variable pd
Eigen::Vector3d pd {0.0, 0.0, 0.0};
Desired position and its derivatives.
variable d_pd
Eigen::Vector3d d_pd {0.0, 0.0, 0.0};
variable dd_pd
Eigen::Vector3d dd_pd {0.0, 0.0, 0.0};
variable psi
double psi {0.0};
Other properties of the path such as the psi, curvature and tangent_norm.
variable curvature
double curvature {0.0};
variable tangent_norm
double tangent_norm {0.0};
variable vd
double vd {0.0};
The desired speed for a given gamma.
variable d_vd
double d_vd {0.0};
variable vehicle_speed
double vehicle_speed {0.0};
variable vc
double vc {0.0};
The correction speed for gamma (when cooperating with other vehicles.
variable gamma_min
double gamma_min {std::numeric_limits<double>::lowest()};
Properties related to the boundaries of the parameterization of the path.
variable gamma_max
double gamma_max {std::numeric_limits<double>::max()};
Updated on 2024-03-07 at 10:30:50 +0000
Last update:
March 7, 2024