File helpers.cuh

namespace controls

namespace cuda_globals

Functions

static __device__ void sample_curv_state (const float world_pose[3], float curv_pose[3], bool &out_of_bounds)

Sample the lookup table with a inertial pose to get the corresponding curvilinear pose.

Parameters:

• world_pose – [in] [x, y, yaw] in world frame

• curv_pose – [out] [progress, offset, heading] in curvilinear frame

• out_of_bounds – [out] true if the world pose is out of bounds of the lookup table.