function

Planning.DubinsPolynomial.smoothOffsetCoefficients

Convenience wrapper returning the exact C3 septic seed

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`path`	`Planning.Dubins.Path`
input	`startCurvature`	`Real`
input	`goalCurvature`	`Real`
input	`startCurvatureDerivative`	`Real`	`= 0.0`
input	`goalCurvatureDerivative`	`Real`	`= 0.0`
output	`offsetCoefficient`	`Real`	`[3, 8]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function smoothOffsetCoefficients
  "Convenience wrapper returning the exact C3 septic seed"
  input Planning.Dubins.Path path;
  input Real startCurvature;
  input Real goalCurvature;
  input Real startCurvatureDerivative = 0.0;
  input Real goalCurvatureDerivative = 0.0;
  output Real offsetCoefficient[3, 8];
protected
  Boolean accepted;
algorithm
  (offsetCoefficient, accepted) := Planning.DubinsPolynomial.jointOptimizeOffsets(
    Planning.Dubins.Path(
      startPosition=path.startPosition,
      startHeading=path.startHeading,
      goalPosition=path.goalPosition,
      goalHeading=path.goalHeading,
      turnRadius=path.turnRadius,
      pathType=path.pathType,
      normalizedSegmentLength=path.normalizedSegmentLength,
      length=path.length,
      feasible=path.feasible),
    startCurvature,
    goalCurvature,
    startCurvatureDerivative,
    goalCurvatureDerivative);
  assert(accepted,
    "Dubins-polynomial smoothing requires a positive-length nominal path");
end smoothOffsetCoefficients;