autoware::motion::control::trajectory_follower::MPCTrajectory Class Reference

calculate control command to follow reference waypoints More...

#include <mpc_trajectory.hpp>

Public Member Functions
void	push_back (const float64_t &xp, const float64_t &yp, const float64_t &zp, const float64_t &yawp, const float64_t &vxp, const float64_t &kp, const float64_t &smooth_kp, const float64_t &tp)
	push_back for all values More...

void	clear ()
	clear for all values More...

size_t	size () const
	check size of MPCTrajectory More...

bool	empty () const

Public Attributes
std::vector< float64_t >	x
	x position x vector More...

std::vector< float64_t >	y
	y position y vector More...

std::vector< float64_t >	z
	z position z vector More...

std::vector< float64_t >	yaw
	yaw pose yaw vector More...

std::vector< float64_t >	vx
	vx velocity vx vector More...

std::vector< float64_t >	k
	k curvature k vector More...

std::vector< float64_t >	smooth_k
	k smoothed-curvature k vector More...

std::vector< float64_t >	relative_time
	relative_time duration time from start point More...

Detailed Description

calculate control command to follow reference waypoints

Trajectory class for mpc follower

Member Function Documentation

◆ clear()

void autoware::motion::control::trajectory_follower::MPCTrajectory::clear ( )

clear for all values

◆ empty()

bool autoware::motion::control::trajectory_follower::MPCTrajectory::empty ( ) const

inline

Returns: true if the compensents sizes are all 0 or are inconsistent

◆ push_back()

void autoware::motion::control::trajectory_follower::MPCTrajectory::push_back	(	const float64_t &	xp,
		const float64_t &	yp,
		const float64_t &	zp,
		const float64_t &	yawp,
		const float64_t &	vxp,
		const float64_t &	kp,
		const float64_t &	smooth_kp,
		const float64_t &	tp
	)

push_back for all values

◆ size()

size_t autoware::motion::control::trajectory_follower::MPCTrajectory::size ( ) const

check size of MPCTrajectory

Returns: size, or 0 if the size for each components are inconsistent

Member Data Documentation

◆ k

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::k

k curvature k vector

◆ relative_time

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::relative_time

relative_time duration time from start point

◆ smooth_k

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::smooth_k

k smoothed-curvature k vector

◆ vx

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::vx

vx velocity vx vector

◆ x

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::x

x position x vector

◆ y

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::y

y position y vector

◆ yaw

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::yaw

yaw pose yaw vector

◆ z

std::vector<float64_t> autoware::motion::control::trajectory_follower::MPCTrajectory::z

z position z vector

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes