Path following with optimalTrajectoryFrenet

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Alexander Maier
Alexander Maier 2020-2-17
Hello
how could I add an actor (with a local coordinate system) to follow a planned trajectory from frenet states? I only see the first planned trajectories in the simulation and would like the algorithm to replan the trajectory (follow the specified path) after execution by updating the initState values and repeating the process. Thank you in advance!
Code:
validator = validatorOccupancyMap;
grid = zeros(1000,1000);
map = binaryOccupancyMap(grid);
setOccupancy(map, [170 180], 1);
setOccupancy(map, [169.6 156.2], 1);
validator.Map = map;
refPath = [0 ,0; 400 400];
initState = [150 110 pi/4 0 10 0];
xy = grid2local(map, [initState(1) initState(2)]);
planner = trajectoryOptimalFrenet(refPath, validator, 'Time',1,'Deviation',0,'LateralSmoothness',3,'LongitudinalSmoothness',5);
initFrenetState = cart2frenet(planner, initState);
trajectory = plan(planner, initFrenetState);
show(planner,"Trajectory","all","TrajectoryColor","velocity")

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