Added path projection class and logic

CMU-Robotics-Club / RoboBuggy2

A complete re-write of the old RoboBuggy.

GNU General Public License v3.0

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Added path projection class and logic #23

Closed gzaragoza314 closed 11 months ago

gzaragoza314 commented 12 months ago

Added a class and logic for path projection:

Currently, assumes steering angle and velocity are constant for the curve it projects
Has functions for projecting analytically via integrated kinematics and projecting discretely by timesteps
- Tested that both give nearly the same numbers for a reasonable input

christianvluu commented 11 months ago

Can you check if the outputs for these area in the correct coordinate frame? We're using UTM coordinates, zone 17T.

Looks like X = northing Y = easting

If turning right, steering radius is positive If turning left, steering radius is negative

Heading = 0 means north Heading = 90 means east and so forth (but you might want to check the logic of this in engine.py for the simulator as that's our coordinate frame)

christianvluu commented 11 months ago

normally gabe would click squash and merge but i'll do it since it's break.