pp_02_b_car_statespace_astar_question.py 文件源码

def segment_points(start_pose, curvature, length, delta_length):
        """Return points of segment, at delta_length intervals."""
        l = 0.0
        delta_length = copysign(delta_length, length)
        points = []
        while abs(l) < abs(length):
            points.append(CurveSegment.end_pose(start_pose, curvature, l)[0:2])
            l += delta_length
        return points

# --------------------------------------------------------------------------
# Exploration of car's kinematic state space.
# --------------------------------------------------------------------------

# Allowed movements. These are given as tuples: (curvature, length).
# The list contains forward and backward movements.