How to access cubic spline of a corridor about corridor HOT 5 CLOSED

Hi Piotr,
glad to hear that you liked it.

To answer your question:
The intention was to not bother the consumer of a corridor with the definition of the reference line ;-)
However, if you need direct access to it please feel free to add it.

Maybe you could elaborate why you need direct access to it? Its possible that the needed information is already available to you.
For instance carries the Frenet Frame, which can be constructed at any given Cartesian position, all geometric information of the curve at that point, like arc-length, curvature, curvature-changing-rate, origin, tangent, normal etc.

from corridor.

To resample the reference line (and boundaries) you can call fillCartesianPolylines() as well.

The returned reference line polyline can then be used to construct another cubic spline.

Maybe that's already what you were looking for?

from corridor.

Thanks, fillCartesianPolylines() is actually nearly what I am looking for.
I agree to sparing the user from to much internal stuff, so I added a small modification from fillCartesianPolylines() that does the sampling only for the reference line, not the bounds (for efficiency reasons): #3

One of the use cases I am thinking of is having multiple objects or even ROS each node planning distinct maneuvers (like lane change, follow ego lane, …). Each would then do:

• Read road geometry from lanelet map
• Convert to a nice spline based representation with this lib
• Do some planning and use the spline-version of the reference line, e.g.
  • as an initialization in the trajectory planner or
  • as the path of a simplistic simulated agent doing only IDM along predefined paths (for our coincar-sim)

For such cases, fillCartesianPolylines() or fillCartesianReferencePolyline() does exactly this job 👌

from corridor.

Alright sounds good and the PR looks good as well.
Thanks for your contribution!

from corridor.

No problem, thanks for the nice lib :)

from corridor.