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In this vector we see the time for 1 m/sec s and a way length of pi/2 (a quater circle ;))

Advice for use:

• Speed, time and waylength have to fit. Verify your speed/way/duration with v_ges =s/t
• Remember that v_ges = sqrt(v_x^2 +v_y^2) as it is a vector ((here v_ges,1 = v_x,1,-v_y,1))

Image Added

• The vector of the startpoint and the endpoint have to fit (means the tangent has to fit)

Image Added(the tangent has the same slope as vector v_ges,2)

C++

Circular trajectory generation for one vehicle

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