check_traj

check_traj(reftrack, reftrack_normvec_normalized, trajectory, ggv, ax_max_machines, v_max, length_veh, width_veh, debug, dragcoeff, mass_veh, curvlim)

Created by: Alexander Heilmeier

Documentation: This function checks the generated trajectory in regards of minimum distance to the boundaries and maximum curvature and accelerations.

Inputs: reftrack: track [x_m, y_m, w_tr_right_m, w_tr_left_m] reftrack_normvec_normalized: normalized normal vectors on the reference line [x_m, y_m] trajectory: trajectory to be checked [s_m, x_m, y_m, psi_rad, kappa_radpm, vx_mps, ax_mps2] ggv: ggv-diagram to be applied: [vx, ax_max, ay_max]. Velocity in m/s, accelerations in m/s2. ax_max_machines: longitudinal acceleration limits by the electrical motors: [vx, ax_max_machines]. Velocity in m/s, accelerations in m/s2. They should be handed in without considering drag resistance. v_max: Maximum longitudinal speed in m/s. length_veh: vehicle length in m width_veh: vehicle width in m debug: boolean showing if debug messages should be printed dragcoeff: [m2*kg/m3] drag coefficient containing c_w_A * rho_air * 0.5 mass_veh: [kg] mass curvlim: [rad/m] maximum drivable curvature

Outputs: bound_r: right track boundary [x_m, y_m] bound_l: left track boundary [x_m, y_m]