In this section you can find code examples for a first simple program to test your environment and get familiar  with it. This code will let your vehicles drive in a circle (not attached to the map)

The code also includes a possible solution to drive a figure eight in the comments.

Procedure:

1.  Write your code in C++ or Matlab
2.  Compile it
3. Upload it to the LCC (see here)
4. Press "employ"

Source Code explanation:

You define the position of the target points, the speed of your vehicle and the time the vehicle needs to pass a segment. In this example the target points are not connected to the map.

This vector defines the x position of a target point (unitless):

vector<double> trajectory_px = vector<double>{ 1, 0, -1, 0}

This vector defines the y position of a target point (unitless):

vector<double> trajectory_py = vector<double>{ 0, 1, 0, -1}

This vector defines the x speed to the target point. The sign gives the orientation in the cartesian coordinate system (unit m/sec):

vector<double> trajectory_vx = vector<double>{ 0, -1, 0, 1}

This vector defines the y speed to the target point. The sign gives the orientation in the cartesian coordinate system (unit (m/sec):

vector<double> trajectory_vy = vector<double>{ 1, 0, -1, 0}

This vector defines the time the vehicle takes between two target points (unit sec):

vector<uint64_t> segment_duration = vector<uint64_t>{1550000000ull, 1550000000ull, 1550000000ull, 1550000000ull}

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

C++

Circular trajectory generation for one vehicle

MATLAB

Circular trajectory generation for one vehicle