xabmerge3 produces t-x trajectories for a pair of lead and following vehicles.xabmerge3 produces t-x trajectories for a pair of lead and following vehicles.
xabmerge3(df1, df2, leff, step, k, type)leading vehicle, a matrix
following vehicle, a matrix
vehicle length, a number
time-step size, a number
counter, a number
logical for plotting where TRUE creates a plot
The xabmerge3, a wrapper function for bmfree2, xabparam and
hsafe, returns a smooth hsafe rule t-x trajectory.
for the following vehicle. The lead vehicle trajectory is not affected.
Incidentally, inputs df1 and df2 were created with bmfree2 and used
for testing.