Function frenet_to_cartesian

Function Documentation

inline std::tuple<float, float> frenet_to_cartesian(const float &distance_d, const float &x_r, const float &y_r, const float &heading_r)

Converts Frenet coordinates to Cartesian coordinates.

This function takes a distance along the normal to the reference path (Frenet coordinate) and converts it to Cartesian coordinates (x, y) based on the reference point (x_r, y_r) and the heading of the reference path (heading_r).

Parameters:

  • distance_d – The distance along the normal to the reference path.

  • x_r – The x-coordinate of the reference point on the path.

  • y_r – The y-coordinate of the reference point on the path.

  • heading_r – The heading angle of the reference path at the reference point.

Returns:

A tuple containing the Cartesian coordinates (x, y).