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Source: https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/VehicleTrajectoryPlanningState.cpp#L82

Moving along the Route

The current reference state of a vehicle in the graph is stored as the triple (edge_index, path_index, s_offset).

size_t current_edge_index = 0;
size_t current_edge_path_index = 0;
double delta_s_path_node_offset = 0;

sd

Speed Profile + Path => Trajectory

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