model

Planning.Examples.DubinsFamilySample

Sample one requested Dubins family over normalized time

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
parameter	`pathType`	`Planning.Dubins.PathType`	`= Planning.Dubins.PathType.LSL`
parameter	`startPosition`	`Real`	`[2] = {0.0, 0.0}`
parameter	`startHeading`	`Real`	`= 0.0`
parameter	`goalPosition`	`Real`	`[2] = {2.0, 1.0}`
parameter	`goalHeading`	`Real`	`= 1.2`
parameter	`turnRadius`	`Real`	`(min=0.0) = 1.0`
parameter	`path`	`Planning.Dubins.Path`	`= Planning.Dubins.planType( startPosition, startHeading, goalPosition, goalHeading, turnRadius, pathType)`
output	`x`	`Real`
output	`y`	`Real`
output	`heading`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model DubinsFamilySample "Sample one requested Dubins family over normalized time"
  parameter Planning.Dubins.PathType pathType = Planning.Dubins.PathType.LSL;
  parameter Real startPosition[2] = {0.0, 0.0};
  parameter Real startHeading = 0.0;
  parameter Real goalPosition[2] = {2.0, 1.0};
  parameter Real goalHeading = 1.2;
  parameter Real turnRadius(min=0.0) = 1.0;
  parameter Planning.Dubins.Path path = Planning.Dubins.planType(
    startPosition, startHeading, goalPosition, goalHeading,
    turnRadius, pathType);
  output Real x;
  output Real y;
  output Real heading;
protected
  Planning.Dubins.Pose pose;
equation
  assert(path.feasible, "Requested Dubins family is infeasible");
  pose = Planning.Dubins.evaluate(path, time);
  x = pose.position[1];
  y = pose.position[2];
  heading = pose.heading;
  when terminal() then
    assert(abs(x - goalPosition[1]) < 2.0e-8 and
        abs(y - goalPosition[2]) < 2.0e-8 and
        abs(Planning.Dubins.wrapAngle(heading - goalHeading)) < 2.0e-8,
      "Dubins gallery path failed its terminal boundary condition");
  end when;
  annotation(experiment(StartTime=0.0, StopTime=1.0, Interval=0.0025));
end DubinsFamilySample;