function

Planning.DubinsPolynomial.nominalCurvature

Signed curvature of a nominal Dubins segment

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`pathType`	`Planning.Dubins.PathType`
input	`segmentIndex`	`Integer`	`(min=1, max=3)`
input	`turnRadius`	`Real`
output	`curvature`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function nominalCurvature "Signed curvature of a nominal Dubins segment"
  input Planning.Dubins.PathType pathType;
  input Integer segmentIndex(min=1, max=3);
  input Real turnRadius;
  output Real curvature;
protected
  Planning.Dubins.SegmentType kind;
algorithm
  assert(turnRadius > 0.0, "Dubins turn radius must be positive");
  kind := Planning.Dubins.segmentType(pathType, segmentIndex);
  curvature := if kind == Planning.Dubins.SegmentType.left then 1.0 / turnRadius
    else if kind == Planning.Dubins.SegmentType.right then -1.0 / turnRadius
    else 0.0;
end nominalCurvature;