functioncircleNormal
Determine unit normal on road, given road surface parameters
Extends from VehicleInterfaces.Roads.Interfaces.normalBase (Determine unit normal on road).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real | s (from normalBase) | 0 | Roads surface parameter 1 (usually arc length along road) |
| Real | w (from normalBase) | 0 | Roads surface parameter 2 (usually lateral direction) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | e_n_0 (from normalBase) | {0, 0, 1} | Unit normal of road at (s,w), resolved in world frame |