Predefined Paths
[FEEDFORWARD_STEERING]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'PREDEFINED'
BLOCK = ‘PATH'
INTEGRATION_STEP_SIZE = 0.01
[PATH]
TYPE = 'CONSTANT_RADIUS'
RADIUS = 40
INITIAL_STRAIGHT = 10
ENTRY_ANGLE = 0.39
[CONSTANT RADIUS] | ||
---|---|---|
TYPE | Attr - string | REQUIRED <CONSTANT_RADIUS> |
RADIUS | Attr - real | REQUIRED Radius of the circle. |
INITIAL_STRAIGHT | Attr - real | REQUIRED Length of the initial straight before entering the turn. |
TURN | Attr - string | OPTIONAL
|
Similarly,
[PATH]
TYPE = 'SLALOM'
NUMBER_OF_CONES = 3
DESIRED_CG_LATERAL_DISP = 3
CONE_SPACING = 50
RECOVERY_LENGTH = 20
INITIAL_STRAIGHT = 20
[SLALOM] | ||
---|---|---|
TYPE | Attr - String | REQUIRED <SLALOM> |
NUMBER_OF_CONES | Attr - int | REQUIRED Number of cones. |
DESIRED_CG_LATERAL_DISP | Attr - real | REQUIRED Desired CG lateral displacement. |
CONE_SPACING | Attr - real | REQUIRED Distance between adjacent cones. |
INITIAL_STRAIGHT | Attr - real | REQUIRED Straight section before entering slalom. |
RECOVERY_LENGTH | Attr - real | REQUIRED Straight section after completing slalom. |
ATTACK_DIRECTION | Attr - String | OPTIONAL
|
Path as sequence of straights and arcs:
[FF_STEER_CONTROLLER]
TAG = 'FEEDFORWARD'
LOOK_AHEAD_TIME = 0.5
PATH = 'SEQUENCE_OF_ST_CRV'
BLOCK = 'PATH'
INTEGRATION_STEP_SIZE = 0.010000
AGGRESSIVE = 'TRUE'
[PATH]
{KEY PAR0 PAR1}
'ST' 20.000000 0.000000
'ARC' 40.000000 -6.283184
[PATH]
{KEY PAR0 PAR1}
'ST' 17.033191 0.000000
'ARC' 20.000000 -0.148890
'ST' 17.240436 0.000000
'ARC' 20.000000 0.148890
'ST' 17.033191 0.000000