void Trajectory2d::shortcut()
{
if (m_trajectory.empty())
{
return;
}
/* Transform each 'following' pose into the cs
* of the 'current' pose. A violation to the desired
* driving direction is found if
* x-value <= 0 and driving forward
* x-value >= 0 and driving backward
*/
Pose2d temp;
for (ContainerType::iterator current=m_trajectory.begin(),
next=current+1;
(current!=m_trajectory.end() && next!=m_trajectory.end());
++current, ++next)
{
temp = current->pose().inverse() * next->pose();
if (((m_is_forward_trajectory && (temp.translation().x() <=0.)))
|| ((!m_is_forward_trajectory) && (temp.translation().x() >=0.)))
{
erase(next);
--current; // step back to check the same place again
next = current+1;
}
}
// recalculate curvature.
if (curvatureAvailable())
{
calculateCurvature();
}
}
Position2d PositionController::getStopLineReachedPose(const Pose2d& junction_start_pose) const
{
Pose2d diff;
PoseTraits<Pose2d>::fromPositionAndOrientationRPY(diff, -0.6, -0.23, 0.0);
const Pose2d stop_pose = junction_start_pose * diff;
ExtendedPose2d projection;
double distance;
std::size_t index;
m_lateral_controller.calculateProjection(m_lateral_controller.getTrajectory(), stop_pose.translation(), projection, distance, index);
return projection.getPosition();
}
