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, if you use C++
3. Upload it to the LCC (see here)
4. Press "deploy"

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

Source Code explanation:

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

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

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

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/s)):

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/s)):

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

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

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

In this vector we see the time for 1 m/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))

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

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

C++

Circular trajectory generation for one vehicle

MATLAB

Circular trajectory generation for one vehicle