functioncirclePosition
Determine point on road
Extends from VehicleInterfaces.Roads.Interfaces.positionBase (Determine road position).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real | s (from positionBase) | 0 | Roads surface parameter 1 (usually arc length along road) |
| Real | w (from positionBase) | 0 | Roads surface parameter 2 (usually lateral direction) |
| SI.Radius | radius | 1 | Radius of circle |
| SI.Length | width | 1 | Width of road |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position[3] | r_0 (from positionBase) | zeros(3) | Position vector from world frame to point on road at (s,w), resolved in world frame |