frenet_converter

FrenetConverter

__init__(waypoints_x, waypoints_y)

Initializes the FrenetConverter object with the given waypoints.

build_raceline()

Builds the spline representation of the raceline.

check_perpendicular(x, y, s, eps_m=0.01)

Checks if the point is perpendicular to the track.

get_approx_s(x, y)

Finds the s-coordinate of the given point by finding the nearest waypoint.

get_cartesian(s, d)

Convert Frenet coordinates to Cartesian coordinates

Parameters:

Name	Type	Description	Default
s	float	longitudinal coordinate	required
d	float	lateral coordinate	required

Returns:

Type	Description
array	np.array: [x, y] Cartesian coordinates

get_derivative(s)

Returns the derivative of the point corresponding to s on the chosen line.

Parameters:

Name	Type	Description	Default
s		parameter which is used to evaluate the spline	required
line		argument used to choose the line. Can be 'int', 'mid', 'out'. Default is 'mid'.	required

Returns:

Name	Type	Description
der	array	dx/ds, dy/ds

get_frenet(x, y, s=None)

Converts Cartesian coordinates to Frenet coordinates.

get_frenet_coord(x, y, s, eps_m=0.01)

Finds the s-coordinate of the given point, considering the perpendicular projection of the point on the track.

Parameters:

Name	Type	Description	Default
x	float	x-coordinate of the point	required
y	float	y-coordinate of the point	required
s	float	estimated s-coordinate of the point	required
eps_m	float	maximum error tolerance for the projection. Default is 0.01.	0.01

Returns:

Type	Description
float	The s-coordinate of the point on the track.