I am working on MapTrackerApp and Trajectory Path generation (with obstacle avoidance) & velocity generation. for Nvidia Drive OS-10.0 on Linux host system(Ubuntu 18.04.5 LTS).
When I look into the Trajectory Planing API found in the maps/common/LanePlannerAppCommon in the control flow block createLanePlan and in the move function block:
const Pose& previousPose = m_drivePath[m_currentDrivePathIndex - moveDirection];
const Pose& currentPose = m_drivePath[m_currentDrivePathIndex];
m_currentTime += DrivePath::getDeltaTime(m_currentLaneOnPlan, previousPose, currentPose);
My Questions in that :
- what type of tracking filter it is using in Localization technique.
- How to generate waypoints in the current lane.
Thanks & Regards,