Drake

PurePursuit computes the required steering angle to achieve a goal point on an continuous planar path. More...
#include <automotive/pure_pursuit.h>
Public Member Functions  
PurePursuit ()=delete  
Does not allow copy, move, or assignment  
PurePursuit (const PurePursuit &)=delete  
PurePursuit &  operator= (const PurePursuit &)=delete 
PurePursuit (PurePursuit &&)=delete  
PurePursuit &  operator= (PurePursuit &&)=delete 
Static Public Member Functions  
static T  Evaluate (const PurePursuitParams< T > &pp_params, const SimpleCarParams< T > &car_params, const LaneDirection &lane_direction, const systems::rendering::PoseVector< T > &pose) 
Evaluates the required steering angle in radians using the purepursuit method. More...  
static const maliput::api::GeoPositionT< T >  ComputeGoalPoint (const T &s_lookahead, const LaneDirection &lane_direction, const systems::rendering::PoseVector< T > &pose) 
Computes the goal point at a distance s_lookahead from the closest position on the curve in the intended direction of travel, and with_s and pose are the direction of travel and PoseVector for the ego vehicle. More...  
PurePursuit computes the required steering angle to achieve a goal point on an continuous planar path.
The path represents as the set of r = 0
positions along a Maliput lane, and a goal point is selected as a predefined lookahead distance along the path in the intended direction of travel. The algorithm outputs the steering angle required to guide the vehicle toward the goal point based on its current position in global coordinates.
See [1] and the corresponding .cc file for details on the algorithm.
Instantiated templates for the following kinds of T's are provided:
They are already available to link against in the containing library.
[1] Coulter, R. Implementation of the Pure Pursuit Path Tracking Algorithm. Carnegie Mellon University, Pittsburgh, Pennsylvania, Jan

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static 
Computes the goal point at a distance s_lookahead
from the closest position on the curve in the intended direction of travel, and with_s
and pose
are the direction of travel and PoseVector for the ego vehicle.

static 
Evaluates the required steering angle in radians using the purepursuit method.
Assumes zero elevation and superelevation.
pp_params  contains the lookahead_distance , the distance along the path based on the closest position on the path to the vehicle. 
car_params  contains the wheelbase of the vehicle. 
lane_direction  is a LaneDirection containing a reference lane and the direction of travel along the positives coordinate. 
pose  is the PoseVector for the ego vehicle. 

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