Why the angle is 6.75°？

karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

http://karlkurzer.github.io/path_planner/

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Why the angle is 6.75°？ #36

Closed yu2014ol closed 4 years ago

yu2014ol commented 4 years ago

According to the description in the paper, shouldn't it be 5°?

// R = 6, 6.75 DEG
const float Node3D::dy[] = { 0,        -0.0415893,  0.0415893};
const float Node3D::dx[] = { 0.7068582,   0.705224,   0.705224};
const float Node3D::dt[] = { 0,         0.1178097,   -0.1178097};

karlkurzer commented 4 years ago

I don't recall the exact values, but if the code says that the turning radius is 6m and the resulting change in heading 6.75 deg, then it's likely correct. You might as well do the math and see, if the values work out.