:py:mod:`rktl_planner.pure_pursuit`
===================================

.. py:module:: rktl_planner.pure_pursuit

.. autoapi-nested-parse::

   Contains pure pursuit helper functions.
   License:
     BSD 3-Clause License
     Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC)
     All rights reserved.



Module Contents
---------------


Functions
~~~~~~~~~

.. autoapisummary::

   rktl_planner.pure_pursuit.find_intersection
   rktl_planner.pure_pursuit.calculate_lat_error
   rktl_planner.pure_pursuit.calculate_turn_rad
   rktl_planner.pure_pursuit.calculate_angle
   rktl_planner.pure_pursuit.get_angular_speed



.. py:function:: find_intersection(path_seg, bot_path, lookahead_dist)

   Uses quadratic formula to find intersections between
   the lookahead radius and the path.


.. py:function:: calculate_lat_error(intersect_pos, bot_pos, bot_orient, lookahead_dist)

   Determines lateral error from intersection point.


.. py:function:: calculate_turn_rad(intersect_pos, bot_pos, bot_orient, lookahead_dist, bkw)

   Determines turning radius to reach intersection point.


.. py:function:: calculate_angle(intersect_pos, bot_pos, bot_orient, lookahead_dist, bkw)

   Determines angle from heading to the intersection point.
   Angle is from -pi to pi, with 0 at car's heading.


.. py:function:: get_angular_speed(linear_vel, turn_rad)

   Relates path to the angular velocity.