record

Planning.DubinsPolynomial.State

Geometry and metric derivatives of a transverse-offset path

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
field	`position`	`Real`	`[2]`
field	`heading`	`Real`
field	`firstDerivative`	`Real`	`[2]`	Unit tangent d(position)/ds
field	`secondDerivative`	`Real`	`[2]`	d2(position)/ds2
field	`thirdDerivative`	`Real`	`[2]`	d3(position)/ds3
field	`curvature`	`Real`		Signed curvature
field	`curvatureDerivative`	`Real`		Derivative of signed curvature with metric distance
field	`offset`	`Real`		Left-normal offset from the nominal path
field	`offsetDerivative`	`Real`	`[4]`	P, P', P'', and P''' with respect to nominal metric distance
field	`metricScale`	`Real`		ds_offset/ds_nominal
field	`segmentIndex`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

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

record State "Geometry and metric derivatives of a transverse-offset path"
  Real position[2];
  Real heading;
  Real firstDerivative[2] "Unit tangent d(position)/ds";
  Real secondDerivative[2] "d2(position)/ds2";
  Real thirdDerivative[2] "d3(position)/ds3";
  Real curvature "Signed curvature";
  Real curvatureDerivative "Derivative of signed curvature with metric distance";
  Real offset "Left-normal offset from the nominal path";
  Real offsetDerivative[4]
    "P, P', P'', and P''' with respect to nominal metric distance";
  Real metricScale "ds_offset/ds_nominal";
  Integer segmentIndex;
end State;