When splitting the input path, the forward or backward direction of each segment is caomputed.
The velocity dead zone is applied when generating the velocity samples to check. The past cost uses all the path points, not only the last one. Version using splines operational in simulation.
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- include/ackermann_planner.h 2 additions, 1 deletioninclude/ackermann_planner.h
- include/ackermann_planner_util.h 3 additions, 1 deletioninclude/ackermann_planner_util.h
- include/ackermann_spline_generator.h 2 additions, 1 deletioninclude/ackermann_spline_generator.h
- src/ackermann_planner.cpp 13 additions, 17 deletionssrc/ackermann_planner.cpp
- src/ackermann_planner_ros.cpp 5 additions, 13 deletionssrc/ackermann_planner_ros.cpp
- src/ackermann_planner_util.cpp 35 additions, 3 deletionssrc/ackermann_planner_util.cpp
- src/ackermann_spline_generator.cpp 27 additions, 17 deletionssrc/ackermann_spline_generator.cpp
- src/ackermann_trajectory_generator.cpp 8 additions, 5 deletionssrc/ackermann_trajectory_generator.cpp
- src/ackermann_trajectory_search.cpp 2 additions, 7 deletionssrc/ackermann_trajectory_search.cpp
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