Function calculate_positions_of_virtual_cones

Function Documentation

arma::fmat calculate_positions_of_virtual_cones(const arma::fmat &cones, const arma::uvec &indices_of_unmatched_cones, const arma::fmat &search_directions, float min_track_width)

Calculates the positions of virtual cones based on unmatched cones and search directions.

This function calculates virtual cone positions by extending the unmatched cones along their respective search directions. The virtual cones are placed at a distance determined by the minimum track width.

Parameters:

  • cones – A matrix of cone positions (N x 2).

  • indices_of_unmatched_cones – Indices of the cones that did not have a match.

  • search_directions – A matrix of search directions for the cones (N x 2).

  • min_track_width – The minimum track width used to determine virtual cone positioning.

Returns:

A matrix of virtual cone positions (M x 2).