Class MapPath

Defined in File potential_pursuit.hpp

Class Documentation

class MapPath

Public Functions

inline MapPath()

inline void initialize(const f1tenth_msgs::msg::Raceline &raceline, std::string speed_function)

inline std::vector<float> linspace(const float start, const float end, const int num)

inline std::vector<float> interpolate_speed_profile(const std::vector<float> &speed, const std::vector<uint8_t> &sector, const int num_points, const std::map<uint8_t, float> &sector_to_speed_factor, const int interpolation_depth)

template<class T> inline unsigned int argmin(const std::vector<T> &v)

inline std::tuple<int, float> search_target_indexes(State &state)

inline std::tuple<float, float> get_target_speed()

inline std::tuple<float, float> calculate_speed_for_zones()

Public Members

std::vector<float> length

std::vector<float> point_distances

std::vector<float> cx

std::vector<float> cy

std::vector<float> heading

std::vector<float> curvature

std::vector<float> speed

std::vector<float> interpolated_speed

std::vector<uint8_t> sector

std::vector<std::string> zone

int num_points

int nearest_point

int look_ahead_point

int look_back_point

int num_unchanged_nearest_point

std::string speed_function