trajectory_supervisor.helper_funcs.src.export_traj module

trajectory_supervisor.helper_funcs.src.export_traj.export_traj(file_path: str, bound_l: numpy.ndarray, bound_r: numpy.ndarray, ego_traj_xy: numpy.ndarray, ego_psi: numpy.ndarray, ego_kappa: numpy.ndarray, ego_vx: numpy.ndarray, ego_ax: numpy.ndarray, sp_res: float = 2.0) → None[source]

This function is used to export a trajectory to a file for further usage in the graph-based local trajectory planner. Therefore, a reference-line and matching normal-vectors (required by the planner) are calculated and exported.

Parameters

  • file_path – path (including file name) the generated trajectory file should be stored to

  • bound_l – coordinates of the left bound (numpy array with columns x and y)

  • bound_r – coordinates of the right bound (numpy array with columns x and y)

  • ego_traj_xy – coordinates of the ego trajectory (numpy array with columns x and y)

  • ego_psi – heading of the ego-trajectory at given coordinates

  • ego_kappa – curvature of the ego-trajectory at given coordinates

  • ego_vx – velocity of the ego-trajectory at given coordinates

  • ego_ax – acceleration of the ego-trajectory at given coordinates

  • sp_res –

    (optional) support point resolution, defines the step-width of the reference line

    • a small step-width might result in curvature spikes, since the splines have less freedom

    • a large step-width might result in hitting the bounds due to less accurate tracking

Authors
Created on

12.05.2020

trajectory_supervisor.helper_funcs.src.export_traj.intersect(pnt_a: tuple, pnt_b: tuple, pnt_c: tuple, pnt_d: tuple) → bool[source]

Determines if two line segments [pnt_a pnt_b] and [pnt_c pnt_d] intersect.

Parameters

  • pnt_a – point defined by a tuple of x and y coordinate

  • pnt_b – point defined by a tuple of x and y coordinate

  • pnt_c – point defined by a tuple of x and y coordinate

  • pnt_d – point defined by a tuple of x and y coordinate

Returns

  • intersect - ‘true’ if the line-segments intersect, ‘false’ otherwise

trajectory_supervisor.helper_funcs.src.export_traj.intersect_point(pnt_a: tuple, pnt_b: tuple, pnt_c: tuple, pnt_d: tuple) → tuple[source]

Determines the intersection point (x, y) of two lines, each going through the point pairs [pnt_a pnt_b] and [pnt_c pnt_d].

Parameters

  • pnt_a – point defined by a tuple of x and y coordinate

  • pnt_b – point defined by a tuple of x and y coordinate

  • pnt_c – point defined by a tuple of x and y coordinate

  • pnt_d – point defined by a tuple of x and y coordinate

Returns

  • intersect - intersection point defined by a tuple of x and y coordinate; ‘false’ if no intersection