@@ -208,10 +208,8 @@ void CSC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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ReedsSheppStateSpace::ReedsSheppPath (ReedsSheppStateSpace::reedsSheppPathType[13 ], t, u, v);
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L_min = L;
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}
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- if (
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- LpSpRp (-x, -y, phi, t, u, v) &&
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- L_min > (L = std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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- {
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+ // time flip + reflect
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+ if (LpSpRp (-x, -y, phi, t, u, v) && L_min > (std::abs (t) + std::abs (u) + std::abs (v))) {
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path = ReedsSheppStateSpace::ReedsSheppPath (
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ReedsSheppStateSpace::reedsSheppPathType[13 ], -t, -u, -v);
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}
@@ -288,7 +286,7 @@ void CCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRmL (-xb, -yb, phi, t, u, v) &&
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- L_min > (L = std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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+ L_min > (std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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{
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path =
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ReedsSheppStateSpace::ReedsSheppPath (ReedsSheppStateSpace::reedsSheppPathType[1 ], -v, -u, -t);
@@ -387,7 +385,7 @@ void CCCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRumLumRp (-x, -y, phi, t, u, v) &&
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- L_min > (L = std::abs (t) + 2 . * std::abs (u) + std::abs (v))) // time flip + reflect
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+ L_min > (std::abs (t) + 2 . * std::abs (u) + std::abs (v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath (
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ReedsSheppStateSpace::reedsSheppPathType[3 ], -t, -u, -u, -v);
@@ -545,7 +543,7 @@ void CCSC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRmSmRm (-xb, -yb, phi, t, u, v) &&
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- L_min > (L = std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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+ L_min > (std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath (
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ReedsSheppStateSpace::reedsSheppPathType[11 ], -v, -u, .5 * pi , -t);
@@ -598,7 +596,7 @@ void CCSCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath
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}
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if (
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LpRmSLmRp (-x, -y, phi, t, u, v) &&
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- L_min > (L = std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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+ L_min > (std::abs (t) + std::abs (u) + std::abs (v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath (
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ReedsSheppStateSpace::reedsSheppPathType[17 ], -t, .5 * pi , -u, .5 * pi , -v);
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