Pose

Pose

This custom position class created for RoboBuggy deals with a simplified state of the buggy. This state comprises three parameters: (x, y, heading), in meters and radians respectively.

The original purpose behind this class is to provide an easy method to manipulate Pose objects. Numerous helper functions transform and use pose functions. Currently, there is only one use casee of Pose, and it is within stanley_controller.py.

In this use case, we convert from the global frame (UTM, Heading), to the local frame of the buggy, where x is in the direction of the buggy, y is the cross-track distance or the distance perpendicular to the buggy. We do this to find the cross-track error, or how far away we are from the track, which is a useful measure to understand if Stanley is working.