Lab3(b): MPC - ece545au20/catkin_ws GitHub Wiki
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rollouts dimension: N x T x 3
- N: we have N = 11 different trajectories in figure above
- T: how many time steps(green dots) in one trajectory
- 3: dimension of pose, [x, y, θ]3
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rollouts are generated w.r.t current car frame, or it’s relatively static w.r.t current car.
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how to compute the rollouts pose in world frame?
- pick one pose B in one trajectory A[x, y, θ]
- if we set x = 0, y = 1.5, θ = 0, then this problem equivalent to clone follower in lab1.
$ rosmsg show sensor_msgs/LaserScan# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data
Header header # timestamp in the header is the acquisition time of
# the first ray in the scan.
#
# in frame frame_id, angles are measured around
# the positive Z axis (counterclockwise, if Z is up)
# with zero angle being forward along the x axis
float32 angle_min # start angle of the scan [rad]
float32 angle_max # end angle of the scan [rad]
float32 angle_increment # angular distance between measurements [rad]
float32 time_increment # time between measurements [seconds] - if your scanner
# is moving, this will be used in interpolating position
# of 3d points
float32 scan_time # time between scans [seconds]
float32 range_min # minimum range value [m]
float32 range_max # maximum range value [m]
float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities # intensity data [device-specific units]. If your
# device does not provide intensities, please leave
# the array empty.