function

Planning.Dubins.planType

Construct a path for a requested Dubins family

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`startPosition`	`Real`	`[2]`
input	`startHeading`	`Real`
input	`goalPosition`	`Real`	`[2]`
input	`goalHeading`	`Real`
input	`turnRadius`	`Real`
input	`pathType`	`Planning.Dubins.PathType`
output	`path`	`Planning.Dubins.Path`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function planType "Construct a path for a requested Dubins family"
  input Real startPosition[2];
  input Real startHeading;
  input Real goalPosition[2];
  input Real goalHeading;
  input Real turnRadius;
  input Planning.Dubins.PathType pathType;
  output Planning.Dubins.Path path;
protected
  Planning.Dubins.Candidate selected;
algorithm
  selected := Planning.Dubins.candidate(
    startPosition, startHeading, goalPosition, goalHeading,
    turnRadius, pathType);
  path.startPosition := startPosition;
  path.startHeading := startHeading;
  path.goalPosition := goalPosition;
  path.goalHeading := goalHeading;
  path.turnRadius := turnRadius;
  path.pathType := selected.pathType;
  path.normalizedSegmentLength := selected.normalizedSegmentLength;
  path.length := selected.length;
  path.feasible := selected.feasible;
end planType;