package
Planning.DubinsPolynomial
Smooth transverse-polynomial offsets from nominal Dubins paths
Represents a trajectory as a lateral polynomial offset from each of the three segments of a nominal Dubins path. Polynomial abscissas are physical nominal path distance, so derivatives have consistent metric units.
The evaluator returns true unit-speed spatial derivatives through third
order, signed curvature, and curvature derivative. Arbitrary coefficient
counts are supported. smoothOffsets provides a septic C3 seed
with zero offset and heading correction at segment junctions.
Members
| Name | Kind | Description |
|---|---|---|
| State | record | Geometry and metric derivatives of a transverse-offset path |
| nominalCurvature | function | Signed curvature of a nominal Dubins segment |
| segmentStartPose | function | Nominal pose at the start of a Dubins segment |
| evaluateSegment | function | Evaluate one transverse polynomial using physical nominal segment distance |
| evaluate | function | Evaluate a piecewise transverse-offset path at a global fraction |
| invertNormalDerivatives | function | Invert true unit-speed normal derivatives to nominal-distance offset derivatives |
| smoothOffsets | function | Construct a septic C3 transverse-offset seed, skipping zero-length segments |
| jointOptimizeOffsets | function | Analytical joint quadratic optimization with one fixed true-derivative repair pass |
| smoothOffsetCoefficients | function | Convenience wrapper returning the exact C3 septic seed |
| derivativeCost | function | Integrated squared offset-derivative cost for arbitrary polynomial order |
| junctionContinuityResidual | function | Maximum mismatch in position and true metric derivatives through third order |
| coordinatedRollAngle | function | Coordinated-flight roll angle associated with signed planar curvature |
| coordinatedRollRate | function | Coordinated-flight roll rate at constant speed |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package DubinsPolynomial
"Smooth transverse-polynomial offsets from nominal Dubins paths"
annotation(Documentation(info="<html>
<p>Represents a trajectory as a lateral polynomial offset from each of the
three segments of a nominal Dubins path. Polynomial abscissas are physical
nominal path distance, so derivatives have consistent metric units.</p>
<p>The evaluator returns true unit-speed spatial derivatives through third
order, signed curvature, and curvature derivative. Arbitrary coefficient
counts are supported. <code>smoothOffsets</code> provides a septic C3 seed
with zero offset and heading correction at segment junctions.</p>
</html>"));
end DubinsPolynomial;