Configuration extraction & novel sampling#2
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slamajakub wants to merge 1 commit into
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…cs & changes related to usage of new functions
petvana
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Feb 19, 2021
| function compute_sampling(self::DubinsManeuver3D; numberOfSamples::Number = 1000) | ||
| Dlat, Dlon = self.path | ||
| lena = Dlon.maneuver.length | ||
| samplingStep = lena/(numberOfSamples-1) |
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This is not numerically stable. The sampling has been fixed in this commit.
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Adding novel functionality -- vehicle configuration can be queried at a specific distance along the manuever, new sampling function
sample_pathwhich samples based on sampling step rather than number of samples (old functioncompute_samplingkept for back-compatibility). Other changes in old implementation such that new and updated functions are used to prevent code duplication.