`rktl_planner.pure_pursuit`

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

`find_intersection`(path_seg, bot_path, lookahead_dist)	Uses quadratic formula to find intersections between
`calculate_lat_error`(intersect_pos, bot_pos, ...)	Determines lateral error from intersection point.
`calculate_turn_rad`(intersect_pos, bot_pos, bot_orient, ...)	Determines turning radius to reach intersection point.
`calculate_angle`(intersect_pos, bot_pos, bot_orient, ...)	Determines angle from heading to the intersection point.
`get_angular_speed`(linear_vel, turn_rad)	Relates path to the angular velocity.

rktl_planner.pure_pursuit.find_intersection(path_seg, bot_path, lookahead_dist): Uses quadratic formula to find intersections between the lookahead radius and the path.

rktl_planner.pure_pursuit.calculate_lat_error(intersect_pos, bot_pos, bot_orient, lookahead_dist): Determines lateral error from intersection point.

rktl_planner.pure_pursuit.calculate_turn_rad(intersect_pos, bot_pos, bot_orient, lookahead_dist, bkw): Determines turning radius to reach intersection point.

rktl_planner.pure_pursuit.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.

rktl_planner.pure_pursuit.get_angular_speed(linear_vel, turn_rad): Relates path to the angular velocity.