Refactored setPlan(). - Githubissues

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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Refactored setPlan(). #95

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Refactored Controller::setPlan().

Split the large raw for loop into 4 parts:

determining the current plan index - still a raw for loop
determining deltas between consecutive points. used as input for the next two parts - uses std::transform()
repopulate the distance vector - uses std::transform() and std::partial_sum()
repopulate the turning radius vector - uses std::transform().