Spur_get_pos_GL, Spur_get_pos_LC
double Spur_get_pos_GL(double *x, double *y, double *th);
double Spur_get_pos_LC(double *x, double *y, double *th);
Get vehicle position and orientation on desired coordinate system.
- *x: pointer to store x position of the vehicle [m]
- *y: pointer to store y position of the vehicle [m]
- *th: pointer to store yaw orientation of the vehicle [rad]
On success, timestamp (unix time) of the data is returned. On error, -1 is returned.
Spur_set_pos_GL, Spur_set_pos_LC
int Spur_set_pos_GL(double x, double y, double th);
int Spur_set_pos_LC(double x, double y, double th);
Set relation between the desired coordinate system and its parent coordinate system to make vehicle position and orientation desired.
- x: x position of the vehicle [m]
- y: y position of the vehicle [m]
- th: yaw orientation of the vehicle [rad]
On success, 1 is returned. On error, -1 is returned.
Spur_adjust_pos_GL, Spur_adjust_pos_LC, Spur_adjust_pos_FS
int Spur_adjust_pos_GL(double x, double y, double th);
int Spur_adjust_pos_LC(double x, double y, double th);
int Spur_adjust_pos_FS(double x, double y, double th);
Set relation between the root coordinate system (BS) and global (GL) coordinate system to make vehicle position and orientation desired. Running vehicle control command is updated according to the adjusted coordinate system.
- x: x position of the vehicle [m]
- y: y position of the vehicle [m]
- th: yaw orientation of the vehicle [rad]
On success, 1 is returned. On error, -1 is returned.
Spur_over_line_GL, Spur_over_line_LC, Spur_over_line_FS
int Spur_over_line_GL(double x, double y, double th);
int Spur_over_line_LC(double x, double y, double th);
int Spur_over_line_FS(double x, double y, double th);
Check whether the vehicle gets over the desired line.
- x: x position of a point where the desired line [m]
- y: y position of the point [m]
- th: orthogonal yaw orientation of the line [rad]
On success, 1 is returned if the vehicle gets over the line, and 0 is returned elsewise. On error, -1 is returned.
Spur_near_pos_GL, Spur_near_pos_LC
int Spur_near_pos_GL(double x, double y, double d);
int Spur_near_pos_LC(double x, double y, double d);
Check whether the vehicle gets near the desired position.
- x: x position of the desired point [m]
- y: y position of the desired point [m]
- d: tolerance [m]
On success, 1 is returned if the vehicle gets near the position and 0 is returned elsewise. On error, -1 is returned.
Spur_near_angle_GL, Spur_near_angle_LC
int Spur_near_pos_GL(double th, double d);
int Spur_near_pos_LC(double th, double d);
Check whether the vehicle gets near the desired orientation.
- th: yaw orientation of the desired orientation [rad]
- d: tolerance [rad]
On success, 1 is returned if the vehicle gets near the orientation, and 0 is returned elsewise. On error, -1 is returned.