trajectory_supervisor.helper_funcs.src.path_matching module

trajectory_supervisor.helper_funcs.src.path_matching.angle3pt(a: list, b: list, c: list) → float[source]

Calculate the angle by turning from coordinate a to c around b.

Parameters

  • a – coordinate a (x, y)

  • b – coordinate b (x, y)

  • c – coordinate c (x, y)

Returns

  • ang - angle between a and c

Authors
Created on

25.06.2020

trajectory_supervisor.helper_funcs.src.path_matching.closest_path_index(path: numpy.ndarray, pos: tuple, n_closest: int = 1) → tuple[source]

Return index of n closest coordinates to “pos” in the “path” array.

Parameters

  • path – m x 2 array of x-,y-coordinates

  • pos – reference position

  • n_closest – (optional) number of closest indexes to be returned

Returns

  • idx_array - array of indexes of points closest to ref.-pos (sorted by index nbrs, NOT distance to pos!)

  • distances2 - squared distances to all path coordinates

Authors
Created on

25.06.2020

trajectory_supervisor.helper_funcs.src.path_matching.get_s_coord(ref_line: numpy.ndarray, pos: tuple, s_array: Optional[numpy.ndarray] = None, only_index=False, closed=False) → tuple[source]

Get the s coordinate of a provided coordinate on a provided coordinate and (optional s) array.

Parameters

  • ref_line – m x 2 array of x-,y-coordinates

  • pos – reference position

  • s_array – matching s values for the provided “ref_line”, if not set: euclidean distances between the points will be calculated

  • only_index – only return indexes and do not calculate coordinates

  • closed – boolean flag, set to true if the reference line should be interpreted as a closed line

Returns

  • s - interpolated s value of the provided pos

  • closest_index - index in the ref_line array which is closest to the provided pos

Authors
Created on

25.06.2020