export_traj_ltpl

export_traj_ltpl(file_paths, spline_lengths_opt, trajectory_opt, reftrack, normvec_normalized, alpha_opt)

Created by: Tim Stahl Alexander Heilmeier

Documentation: This function is used to export the generated trajectory into a file for further usage in the local trajectory planner on the car (including map information via normal vectors and bound widths). The generated files get an unique UUID and a hash of the ggv diagram to be able to check it later.

The stored trajectory has the following columns: [x_ref_m, y_ref_m, width_right_m, width_left_m, x_normvec_m, y_normvec_m, alpha_m, s_racetraj_m, psi_racetraj_rad, kappa_racetraj_radpm, vx_racetraj_mps, ax_racetraj_mps2]

Inputs: file_paths: paths for input and output files {ggv_file, traj_race_export, traj_ltpl_export, lts_export} spline_lengths_opt: lengths of the splines on the raceline in m trajectory_opt: generated race trajectory reftrack: track definition [x_m, y_m, w_tr_right_m, w_tr_left_m] normvec_normalized: normalized normal vectors on the reference line [x_m, y_m] alpha_opt: solution vector of the opt. problem containing the lateral shift in m for every ref-point