Function check_direction_changes

Function Documentation

void check_direction_changes(std::vector<std::array<float, 3>> cones, std::array<float, 2> car_direction_normalized, std::vector<int> current_attempt, int position_in_stack, std::vector<int> neighbors, std::vector<bool> &mask, int i, ConeType cone_type, float threshold_directional_angle, float threshold_absolute_angle)

Check if the direction of the cone change the config direction.

Parameters:

  • cones – Vector of cones.

  • car_direction_normalized – The normalized direction of the car.

  • current_attempt – The vector of current attempt.

  • position_in_stack – The current position in the stack.

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

  • mask – The boolean mask.

  • i – Current index in the mask.

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

  • threshold_directional_angle – Threshold for directional angle.

  • threshold_absolute_angle – Threshold for absolute angle.