Function disparity_extender_steering

Function Documentation

float disparity_extender_steering(std::vector<float> ranges, std::vector<float> &processed_ranges, float angle_increment, float lidar_fov, float desired_fov, float disparity_thrashold, float angle_eq_thr, float ray_eq_thr, float car_width, float max_range, float r_multiplier, float max_steering_angle, bool ignore_angle_eq_thr, bool ignore_ray_eq_thr, std::string angle_priority)

Computes the steering angle based on disparity extender algorithm.

This function calculates the steering angle required to avoid obstacles detected by a LIDAR sensor using the disparity extender algorithm.

Parameters:

  • ranges – A vector of float values representing the distances measured by the LIDAR sensor.

  • angle_increment – The angular increment between consecutive LIDAR measurements [rad].

  • lidar_fov – The field of view of the LIDAR sensor [rad].

  • desired_fov – The desired field of view for the disparity extender algorithm [deg].

  • disparity_thrashold – The threshold for detecting disparities in the LIDAR measurements.

  • angle_eq_thr – The threshold for angle equality check.

  • ray_eq_thr – The threshold for ray equality check.

  • car_width – The width of the car.

  • max_range – The maximum range of the LIDAR sensor.

  • r_multiplier – The multiplier for the range values.

  • ignore_angle_eq_thr – Flag to ignore angle equality threshold.

  • ignore_ray_eq_thr – Flag to ignore ray equality threshold.

  • angle_priority – The priority for angle selection (“left” or “right”).

Returns:

The computed steering angle.