ReedsShepp.hpp

Go to the documentation of this file.

#pragma once
 
#include <vector>
 
namespace ugv_nav4d
{
 
struct RSSample
{
    double x;
    double y;
    double theta;
    bool forward;
};
 
class ReedsShepp
{
public:
    static double distance(double x0, double y0, double th0,
                           double x1, double y1, double th1,
                           double turningRadius);
 
    static bool sample(double x0, double y0, double th0,
                       double x1, double y1, double th1,
                       double turningRadius, double stepSize,
                       std::vector<RSSample>& outSamples,
                       bool forwardOnly = false);
};
 
}