Move, refactor and test closestPointOnSegment().

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Move, refactor and test closestPointOnSegment(). #133

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Partial fix for #122 Fix for #128 (documentation only).

Moved Controller::closestPointOnSegment() to calculations.hpp/cpp and added unit tests. Found a bug in the documentation (see #128), fixed the documentation and renamed the arguments to make their purpose more clear.

lewie-donckers commented 2 years ago

I also realized, closestPoseOnSegment is a better name for this function

@cesar-lopez-mar fixed!