Function end_configurations

Function Documentation

std::vector<std::vector<int>> end_configurations(const std::array<float, 2> car_position, const std::array<float, 2> car_direction, std::vector<std::array<float, 3>> cones, ConeType cone_type, int start_index, int target_lenght, std::vector<int> neighbors, std::vector<int> borders, const float max_dist_to_neighbor, const float threshold_directional_angle, const float threshold_absolute_angle, const float threshold_other_side_angle, const float threshold_filter_angle)

Select the best end configurations.

Parameters:

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

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

  • cones – Vector of cones represented as arrays of three floats [x, y, type].

  • cone_type – Type of cones to select.

  • start_index – The index of the starting node.

  • target_lenght – The length of the path that the search is searching for.

  • neighbors – The vector of neighbors.

  • borders – The vector containing borders of neighbors.

  • max_dist_to_neighbor – Maximum distance to the neighbor cone.

  • threshold_directional_angle – Threshold for directional angle.

  • threshold_absolute_angle – Threshold for absolute angle.

  • threshold_other_side_angle – Threshold for the other side angle.

  • threshold_filter_angle – Threshold for filtering cones in between.

Returns:

Returns best end configurations.