# Pure_Pursuit_Tools

**Repository Path**: HigerBusApp2020/Pure_Pursuit_Tools

## Basic Information

- **Project Name**: Pure_Pursuit_Tools
- **Description**: 纯跟踪算法伪码及曲率计算工具包
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2020-07-14
- **Last Updated**: 2022-03-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Pure_Pursuit_Tools

#### 介绍
纯跟踪算法及曲率计算工具包

#### 安装教程

1.  使用Eigen库，请在CmakeList.txt中增加：  
```
find_package(Eigen3)

INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
```
2.  xxxx
3.  xxxx

#### 使用说明
1.  Cubic_Spline采用frenet坐标系，输入vector wx wy  
如：  
```
fsd::Vec_f wx, wy;
	//读入地图数据
	for (size_t i = 0; i < map.map_points.size(); i++)
	{
		Car_Point temp = map.convert_Car_XY(map.gps_point, map.map_points[i]);
		wx.push_back(temp.x);
		wy.push_back(temp.y);
	}
	//
	fsd::Spline2D splinePath(wx,wy); //初始化需要插值的点集
    std::array<float, 2> point_ = splinePath.calc_postion(look_distance); //找点
```