frenet2cart

Convert Frenet states to Cartesian states

Syntax

frenet2cart(planner,frenetStates)

Description

frenet2cart(planner,frenetStates) converts a 6-element vector of Frenet states [s, ds, dds, l, dl, ddl], where s is arc length from the first point in reference path, and l is normal distance from the closest point at s on the reference path to a 6-element vector of Cartesian states [x, y, theta, kappa, speed, acceleration].

Input Arguments

planner — Optimal trajectory planner in frenet space

trajectoryOptimalFrenet object

Optimal trajectory planner in frenet space, specified as a trajectoryOptimalFrenet object.

frenetStates — Vector of Frenet states

six-element vector

Vector of Frenet states, specified as a 1-by-6 vector, [s, ds, dds, l, dl, ddl]. s specifies the arc length from the first point in reference path in meters, ds specifies the first derivative of arc length, dds specifies the second derivative of arc length, l specifies the normal distance from the closest point in the reference path, dl specifies the first derivative of normal distance, and ddl specifies the second derivative of normal distance.

Example: [10 1 0 3 0 0]

Data Types: double

Extended Capabilities

C/C++ Code Generation
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