Lane::DoEvalMotionDerivatives. #27
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francocipollone
commented
Oct 3, 2022
| {100., 0., 0.}, | ||
| {100. + 50 * std::sqrt(2.), 0., 0.}, | ||
| {100. + 50 * std::sqrt(2.), 2., 0.}} /* srh */, | ||
| {{3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}} /* expected_motion_derivatives */ |
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Note that the expected motion derivatives are equal to the velocity. The WDot implementation considers the heading dot as zero because of the linea interpolation between the points.
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It's OK. It's the cost of a simplified model.
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
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agalbachicar
previously approved these changes
Oct 3, 2022
| {100., 0., 0.}, | ||
| {100. + 50 * std::sqrt(2.), 0., 0.}, | ||
| {100. + 50 * std::sqrt(2.), 2., 0.}} /* srh */, | ||
| {{3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}, {3, 2., 1.}} /* expected_motion_derivatives */ |
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It's OK. It's the cost of a simplified model.
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🎉 New feature
Closes #26
Summary
Implements
Lane::DoEvalMotionDerivativesChecklist
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