| | | \n\n \n \n \n
float dvx= | \tvx sampling
\n | \n \n\n \n \n \n
float dvy= | \tvy sampling
\n | \n \n\n \n \n \n
int iypi=0 | \tfirst depth position where velocity steering is computed
\n | \n \n\n \n \n \n
int iyps=ny-1 | \tlast depth position where velocity steering is computed
\n | \n \n\n \n \n \n
int nvx= | \tnumber of vx values
\n | \n \n\n \n \n \n
int nvy= | \tnumber of vy values
\n | \n \n\n \n \n \n
float ovx= | \tvx origin
\n | \n \n\n \n \n \n
float ovy= | \tvy origin
\n | \n \n\n \n \n \n
float xp= | \tlateral position where velocity steering is computed
\n | \n \n |