figurer.car-example — figurer 0.1.0

constrain clj

(constrain value min-value max-value)

Return value if between min-value and max-value. If below min-value return min-value. If above max-value return max-value.

gentle-turn-initial-state clj

gentle-turn-problem clj

gentle-turn-track clj

gentle-turn-waypoints clj

max-speed clj

pd-actuation clj

(pd-actuation {:keys [proportional-error derivative-error] :as pd}
              {:keys [proportional-factor derivative-factor] :as pd-parameters})

Use PD to select actuation (such as steering angle).

pd-steering-estimate clj

(pd-steering-estimate state)

Given a state, what steering angle does a PD controller recommend?

policy clj

(policy state)

Given current state, determine next actuation. Each element of the result vector is a probability distribution to represent the uncertainty in which actuation would be the best.

predict clj

(predict state actuation coord dt)

Given current state and actuation, determine how the state will change.

sharp-turn-initial-state clj

sharp-turn-problem clj

sharp-turn-track clj

sharp-turn-waypoints clj

steering-pd-parameters clj

value clj

(value state)

Measure of how 'good' a state is. A plan will be chosen that maximizes the average result of this function across each state in the plan.