Detailed Description

template<typename T>
class delphyne::PurePursuit< T >

PurePursuit computes the required steering angle to achieve a goal point on an continuous planar path.

The path represents as the set of r = 0 positions along a Maliput lane, and a goal point is selected as a pre-defined lookahead distance along the path in the intended direction of travel. The algorithm outputs the steering angle required to guide the vehicle toward the goal point based on its current position in global coordinates.

See [1] and the corresponding .cc file for details on the algorithm.

Instantiated templates for the following kinds of T's are provided:

double
AutoDiffXd

They are already available to link against in the containing library.

[1] Coulter, R. Implementation of the Pure Pursuit Path Tracking Algorithm. Carnegie Mellon University, Pittsburgh, Pennsylvania, Jan

#include <src/systems/pure_pursuit.h>

Public Member Functions
	PurePursuit ()=delete

Static Public Member Functions
static T	Evaluate (const PurePursuitParams< T > &pp_params, const SimpleCarParams< T > &car_params, const LaneDirection &lane_direction, const drake::systems::rendering::PoseVector< T > &pose)
	Evaluates the required steering angle in radians using the pure-pursuit method. More...

static const maliput::api::InertialPosition	ComputeGoalPoint (const T &s_lookahead, const LaneDirection &lane_direction, const drake::systems::rendering::PoseVector< T > &pose)
	Computes the goal point at a distance `s_lookahead` from the closest position on the curve in the intended direction of travel, and `with_s` and `pose` are the direction of travel and PoseVector for the ego vehicle. More...

Constructor & Destructor Documentation

◆ PurePursuit()

PurePursuit ( )

delete

Member Function Documentation

◆ ComputeGoalPoint()

const InertialPosition ComputeGoalPoint	(	const T &	s_lookahead,
		const LaneDirection &	lane_direction,
		const drake::systems::rendering::PoseVector< T > &	pose
	)

static

Computes the goal point at a distance s_lookahead from the closest position on the curve in the intended direction of travel, and with_s and pose are the direction of travel and PoseVector for the ego vehicle.

◆ Evaluate()

T Evaluate	(	const PurePursuitParams< T > &	pp_params,
		const SimpleCarParams< T > &	car_params,
		const LaneDirection &	lane_direction,
		const drake::systems::rendering::PoseVector< T > &	pose
	)

static

Evaluates the required steering angle in radians using the pure-pursuit method.

Assumes zero elevation and superelevation.

Parameters

pp_params	contains the `lookahead_distance`, the distance along the path based on the closest position on the path to the vehicle.
car_params	contains the `wheelbase` of the vehicle.
lane_direction	is a LaneDirection containing a reference lane and the direction of travel along the positive-s coordinate.
pose	is the PoseVector for the ego vehicle.

The documentation for this class was generated from the following files: