Function check_expected_side

Function Documentation

std::vector<bool> check_expected_side(ConeType cone_type, const std::array<float, 2> car_position, const std::array<float, 2> car_direction_normalized, std::vector<std::array<float, 2>> neighbors_points, const float threshold_other_side_angle)

Checks if the cone second in attempt is on the right side of the car.

Parameters:

  • cone_type – Type of cone (left or right).

  • car_position – Position of the car (x, y).

  • car_direction_normalized – Direction of the car (x, y).

  • neighbors_points – The vector of neighbors points(cones).

  • threshold_other_side_angle – Threshold for the other side angle.

Returns:

std::vector<bool>