functionlineHeadingDirection
Determine unit heading direction on road
Extends from VehicleInterfaces.Roads.Interfaces.headingDirectionBase (Determine unit heading direction on road).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real | s (from headingDirectionBase) | 0 | Roads surface parameter 1 (usually arc length along road) |
| Real | w (from headingDirectionBase) | 0 | Roads surface parameter 2 (usually lateral direction) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | e_s_0 (from headingDirectionBase) | {1, 0, 0} | Unit vector in direction of road heading at (s,w), resolved in world frame |