scurve trajectory planner

Actually the problem might be in the dogleg algo, seems odd to me that gamma11 and gamma21 are zero.

Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
 

Could it be that we are only solving for variable s1 instead of [gamma11, gamma21, s1]?

@Arciera,

I made a test : clothoid_compound_no_fit();

This visualises the problem quite good. This example uses no fit for endpoint. So the clothoid compound
behaves as a natural attached curve.

eq44 is reviewed and i added the for loop check calculations as in the paper.
However the tresholds results there are ok.
eq45, i can not find any typo's.

eq45 is sub off eq44_G123. Yes eq45 is in the loop.

With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.
Yes. eq45 is called for xy and for z.

Then yi1 is called like : y11 for z
Then yi1 is called like : y21 for xy.

This to avoid code duplication.

See my last post, looks like dogleg is not solving for gamma11 and gamma21.

[edit]

Just checked and it does seem to be adjusting gamma11 and gamma 21 but it always ends up being zero which does not quite look right to me.

So the gamma11 and gamma21 depend on the start values, however there is another problem.
I'm running single_clothoid_fit and I changed kappa10 from 0 to 0.1 and now everything is off:

 

@Arciera,

I found the buggybug. . Was not alien obstruction.

Glad in eq14 we can choose 2 interpolation models:
1. eq14_drift (archived)
2. eq14_gauss

It turns out nr. 1 works good and shows correct clothoid compound.
So nr.2 contains a buggybug. Will try to find it now.

@Arciera,

Yes, kappa10 is start curvature in z direction.

Gamma11 = y11, is the rigid property of the clothoid. if 0, then straight line. When 0.001 then clothoid begins to curve in a direction depending the sign off y11.

and now everything is off:
Keep also an eye on the GNU plot display max values. "set xrange [-20:80]\n"