Hi,…
What are the equations that describe the transformation from Frenet coordinates (longitudinal and Lateral) to Cartesian coordinates (X and Y)?
In another words, suppose I have longitudinal displacement, lateral deviation, orientation and curvature, then How can I get the XY position that represent those states?
Hi
The equations are rather complex. They are implemented in
CurvilinearCoordinateSystem::convertToCartesianCoords.
Please see cpp/geometry/src/curvilinear_coordinate_system.cc · master · tum-cps / commonroad-drivability-checker · GitLab for more details.
In fact, there is a python function called coordinate_system.convert_to_cartesian_coords that performs the conversion.
You can also refer to the paper Bender, Philipp, Julius Ziegler, and Christoph Stiller. “Lanelets: Efficient map representation for autonomous driving.” 2014 IEEE Intelligent Vehicles Symposium Proceedings . IEEE, 2014. for more details on the transformation.