Predefined Paths

[FEEDFORWARD_STEERING]

TAG = 'FEEDFORWARD'

LOOK_AHEAD_TIME = 0.5

PATH = 'PREDEFINED'

BLOCK = ‘PATH'

INTEGRATION_STEP_SIZE = 0.01

[PATH]

TYPE = 'CONSTANT_RADIUS'

RADIUS = 40

INITIAL_STRAIGHT = 10

The vehicle follows the path as shown in the figure below:

[CONSTANT RADIUS]

TYPE

Attr - string

REQUIRED

<CONSTANT_RADIUS>

RADIUS

Attr - real

REQUIRED

Radius of the circle.

INITIAL_STRAIGHT

Attr - real

REQUIRED

Length of the initial straight before entering the turn.

TURN

Attr - string

OPTIONAL

•	If LEFT – vehicle turns to the left and to right if RIGHT.

•	Default is RIGHT.

Similarly,

[PATH]

TYPE = 'SLALOM'

NUMBER_OF_CONES = 3

DESIRED_CG_LATERAL_DISP = 3

CONE_SPACING = 50

RECOVERY_LENGTH = 20

INITIAL_STRAIGHT = 20

[SLALOM]

TYPE

Attr - string

REQUIRED

NUMBER_OF_CONES

Attr - int

REQUIRED

Number of cones.

DESIRED_CG_LATERAL_DISP

Attr - real

REQUIRED

Desired CG lateral displacement.

CONE_SPACING

Attr - Real

REQUIRED

Distance between adjacent cones.

INITIAL_STRAIGHT

Attr - Real

REQUIRED

Straight section before entering slalom.

RECOVERY_LENGTH

Attr - Real

REQUIRED

Straight section after completing slalom.

ATTACK_DIRECTION

Attr - String

OPTIONAL

•	First cone if attacked from the specified direction.

•	Default is RIGHT.

Path as sequence of straights and arcs:

[FF_STEER_CONTROLLER]

TAG = 'FEEDFORWARD'

LOOK_AHEAD_TIME = 0.5

PATH = 'SEQUENCE_OF_ST_CRV'

BLOCK = 'PATH'

INTEGRATION_STEP_SIZE = 0.010000

AGGRESSIVE = 'TRUE'

[PATH]

{KEY PAR0 PAR1}

'ST' 20.000000 0.000000

'ARC' 40.000000 -6.283184

This creates a path that is sequence of a straight (20 m) and arc (Radius 40 m, Angle 6.283184 rad. clockwise).

[PATH]

{KEY PAR0 PAR1}

'ST' 17.033191 0.000000

'ARC' 20.000000 -0.148890

'ST' 17.240436 0.000000

'ARC' 20.000000 0.148890

'ST' 17.033191 0.000000