model

Planning.Examples.DubinsPolynomialGallery

Four reproducible smooth trajectory examples

Modelica declarations and implementation

Show parameters, interfaces and source

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

model DubinsPolynomialGallery "Four reproducible smooth trajectory examples"
  Planning.Examples.DubinsPolynomialSample case1;
  Planning.Examples.DubinsPolynomialSample case2(
    startPosition={3.0, -2.0},
    startHeading=0.6,
    goalPosition={2.5127, 10.1974},
    goalHeading=2.3,
    turnRadius=1.7);
  Planning.Examples.DubinsPolynomialSample case3(
    startPosition={-6.0, -4.0},
    startHeading=-0.4,
    goalPosition={12.0, 8.6},
    goalHeading=1.3,
    turnRadius=3.06);
  Planning.Examples.DubinsPolynomialSample case4(
    startPosition={-3.0, 1.0},
    startHeading=0.8,
    goalPosition={-11.0, 7.0},
    goalHeading=2.4,
    turnRadius=1.4);
  annotation(experiment(StartTime=0.0, StopTime=1.0, Interval=0.0025));
end DubinsPolynomialGallery;