test_IPKF
Dependencies: mbed
pathPlanning.c
00001 #include "pathPlanning.h" 00002 00003 void GeneratePath(matrix* p0, matrix* pf, matrix* path) 00004 { 00005 float delta_x = (pf->element[0][0] - p0->element[0][0]) / path->col; 00006 float delta_y = (pf->element[1][0] - p0->element[1][0]) / path->col; 00007 float delta_z = (pf->element[2][0] - p0->element[2][0]) / path->col; 00008 float delta_theta_x = (pf->element[3][0] - p0->element[3][0]) / path->col; 00009 float delta_theta_y = (pf->element[4][0] - p0->element[4][0]) / path->col; 00010 float delta_theta_z = (pf->element[5][0] - p0->element[5][0]) / path->col; 00011 00012 for(int i = 0; i < path->col; i++) 00013 { 00014 path->element[0][i] = p0->element[0][0] + i*delta_x; 00015 path->element[1][i] = p0->element[1][0] + i*delta_y; 00016 path->element[2][i] = p0->element[2][0] + i*delta_z; 00017 path->element[3][i] = p0->element[3][0] + i*delta_theta_x; 00018 path->element[4][i] = p0->element[4][0] + i*delta_theta_y; 00019 path->element[5][i] = p0->element[5][0] + i*delta_theta_z; 00020 00021 } 00022 00023 return; 00024 }
Generated on Tue Jul 12 2022 11:35:17 by 1.7.2