Function found_mean_yaw

Function Documentation

bool found_mean_yaw(const CoordinateXY &coord, const CoordinateSequence &line_coords, const AnyAnglePath &path, const GeometryFactory &factory, float &mean_yaw, int &idx_closest, geos_t &distance_to_coord)

When trying to understand this function, see images junction_zone.svg and projection_in_junction_zone.svg in the rrt_cpp package as a reference. Good luck! TODO: add a more detailed explanation

Parameters:

  • coord –

  • line_coords –

  • path –

  • factory –

  • mean_yaw –

Returns: