Class G2solveCLC

Class Documentation

class G2lib::G2solveCLC

Construct a piecewise clothoids \( G(s) \) composed by 2 clothoid and one line segment that solve the G2 problem

\[\begin{split} \begin{array}{ll} \textrm{endpoints:}\quad & \begin{cases} G(0) = \mathbf{p}_0 & \\[0.5em] G(L) = \mathbf{p}_1 & \end{cases} \\[1em] \textrm{angles:}\quad & \begin{cases} \theta(0) = \theta_0 & \\[0.5em] \theta(L) = \theta_1 & \end{cases} \\[1em] \textrm{curvature:}\quad & \begin{cases} \kappa(0) = \kappa_0 & \\[0.5em] \kappa(L) = \kappa_1 & \end{cases} \end{array} \end{split}\]

note

The solution do not exist for all the combination of points/angle/curvature

Public Functions

inline G2solveCLC()

Build an empty clothoid list

inline ~G2solveCLC()
int build(real_type x0, real_type y0, real_type theta0, real_type kappa0, real_type x1, real_type y1, real_type theta1, real_type kappa1)

Construct a piecewise clothoids \( G(s) \) composed by two clothoids and one line segment that solve the G2 problem, with data

\[ \mathbf{p}_0 = (x_0,y_0)^T, \qquad \mathbf{p}_1 = (x_1,y_1)^T \]
\[ \theta_0, \qquad \theta_1, \qquad \kappa_0, \qquad \kappa_1 \]
Parameters

  • x0 – [in] \( x_0 \)

  • y0 – [in] \( y_0 \)

  • theta0 – [in] \( \theta_0 \)

  • kappa0 – [in] \( \kappa_0 \)

  • x1 – [in] \( x_1 \)

  • y1 – [in] \( y_1 \)

  • theta1 – [in] \( \theta_1 \)

  • kappa1 – [in] \( \kappa_1 \)

Returns

number of iterations of -1 if failed

void setTolerance(real_type tol)

Fix tolerance for the G2 problem

void setMaxIter(int tol)

Fix maximum number of iteration for the G2 problem

int solve()

Solve the G2 problem

Returns

number of iterations of -1 if failed

inline ClothoidCurve const &getS0() const

Return the first clothoid of the G2 clothoid list

inline ClothoidCurve const &getSM() const

Return the second segment (the line) as a clothoid

inline ClothoidCurve const &getS1() const

Return the third clothoid of the G2 clothoid list

void save(ostream_type &stream) const