SerestController.hpp File Reference

#include <vector>
#include <string>
#include "rclcpp/time.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "nav_msgs/msg/path.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_common/types/NavState.hpp"

Include dependency graph for SerestController.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	SerestController
	SeReST (Safe Reparameterized Time) controller for path tracking. More...
struct	SerestController::Vec2
	Simple 2D vector utility type. More...

Namespaces
namespace	easynav
	Provides a mapping for often used cost values.

Functions
double	crossz (const SerestController::Vec2 &a, const SerestController::Vec2 &b)
	2D cross product Z component (a.x*b.y - a.y*b.x).
double	dot (const SerestController::Vec2 &a, const SerestController::Vec2 &b)
	Dot product between two 2D vectors.
double	norm (const SerestController::Vec2 &a)
	Euclidean norm (length) of a 2D vector.
SerestController::Vec2	normalize (const SerestController::Vec2 &a)
	Normalize a 2D vector, with a safe fallback for very small norms.
SerestController::Vec2	v2 (double x, double y)
	Construct a 2D vector.