Sequence of Straights and Arcs

[FF_STEER_CONTROLLER]                     
TAG                     = 'FEEDFORWARD'   
LOOK_AHEAD_TIME         = 0.5   
PATH                 = 'SEQUENCE_OF_ST_CRV' 
BLOCK                = 'PATH'     
INTEGRATION_STEP_SIZE   = 0.010000        
AGGRESSIVE              = 'TRUE'     
[PATH]                                
{KEY        PAR0              PAR1}   
'ST'        20.000000         0.000000
'ARC'       40.000000        -6.283184
This creates a path that is sequence of a straight (20 m) and arc (Radius 40 m, Angle 6.283184 rad. clockwise).
Figure 1. 


[PATH]                                 
{KEY        PAR0              PAR1}    
'ST'        17.033191         0.000000
'ARC'       20.000000         -0.148890
'ST'        17.240436         0.000000
'ARC'       20.000000         0.148890
'ST'        17.033191         0.000000
Figure 2.


[PATH] Sequence of straights and Arcs
TABLE Attr - string REQUIRED
COLUMN1

KEY

 Attr - string REQUIRED

‘ST’ for Straight and ‘ARC’ for arc

COLUMN2

PAR0

 Attr - Real REQUIRED
if ‘ST:
PAR0 = length of the straight
if‘ARC’:
PAR0 = radius of the arc’
COLUMN3 Attr - Real OPTIONAL
if ‘ST:
PAR1 = Unused (0.00)
if‘ARC’:
PAR1 = angle of the arc’
Negative angle means clockwise arc
Positive angle means anti-clockwise arc