frenet.core — frenet 0.1.0

distance clj

(distance [x1 y1] [x2 y2])

guardrail-newton clj

(guardrail-newton f x0 tolerance)

(guardrail-newton f x0 tolerance min-x max-x)

Version of Newton's method with guardrails to ensure convergence

s->dxy-dd clj

(s->dxy-dd track s)

s->dxy-ds clj

(s->dxy-ds track s)

s->xy clj

(s->xy track s)

sd->xy clj

(sd->xy track s d)

sdv->xyv clj

(sdv->xyv track s d vs vd)

track clj

(track waypoints)

Construct a coordinate system around a track, based on a set of (x,y) waypoints along that track. Coordinates are (s,d) where s is distance along the track and d is distance to the right of the track. Internally, d by itself is part of (s,d) coordinates and dM-dN is a partial derivative of M with respect to N. Surprisingly, in the case of frenet coordinates, the following convenient partial derivative equalities hold: dx/ds = ds/dx = -dy/dd = -dd/dy dy/ds = ds/dy = dx/dd = dd/dx (dx/ds)^2 + (dy/ds)^2 = 1 (Such equalities are possible because partial derivatives are not fractions, despite what the notation suggests.) These equalities will be used heavily in this namespace. For example, after representing dx/ds and dy/ds with splines, there's no need to create separate splines for the other quantities that are easily derived from those two.

xy->sd clj

(xy->sd track x y)

xyv->sdv clj

(xyv->sdv track x y vx vy)