pure_pursuit code cleanup (!86) · Merge requests · Autoware Foundation / MovedToGitHub / core_planning · GitLab

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Ian Colwell requested to merge astuff/autoware.ai/core_planning:upstream/pure_pursuit_cleanup into master May 25, 2020

For the theory of pure pursuit controller and the derivation of the formula, please refer to "Integrated Mobile Robot Control" by Omead Amidi (CMU-RI-TR-90-17, Equation 3.10 on Page 21).
Rewrite a few functions so they are easier to understand.
Verified in LGsim and L5 test track

See astuff/autoware.ai/core_planning!11 (merged) for more details.