Autoware.Auto
longitudinal_controller_utils.cpp File Reference
#include "trajectory_follower/longitudinal_controller_utils.hpp"
#include <algorithm>
#include <experimental/optional>
#include <limits>
#include "motion_common/motion_common.hpp"
#include "tf2/LinearMath/Matrix3x3.h"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
Include dependency graph for longitudinal_controller_utils.cpp:

Namespaces

 autoware
 This file defines the lanelet2_map_provider_node class.
 
 autoware::motion
 
 autoware::motion::control
 
 autoware::motion::control::trajectory_follower
 
 autoware::motion::control::trajectory_follower::longitudinal_utils
 

Functions

TRAJECTORY_FOLLOWER_PUBLIC bool8_t autoware::motion::control::trajectory_follower::longitudinal_utils::isValidTrajectory (const Trajectory &traj)
 check if trajectory is invalid or not More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::calcStopDistance (const Point &current_pos, const Trajectory &traj)
 calculate distance to stopline from current vehicle position where velocity is 0 More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::getPitchByPose (const Quaternion &quaternion)
 calculate pitch angle from estimated current pose More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::getPitchByTraj (const Trajectory &trajectory, const size_t closest_idx, const float64_t wheel_base)
 calculate pitch angle from trajectory on map NOTE: there is currently no z information so this always returns 0.0 More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::calcElevationAngle (const TrajectoryPoint &p_from, const TrajectoryPoint &p_to)
 calculate elevation angle More...
 
TRAJECTORY_FOLLOWER_PUBLIC Pose autoware::motion::control::trajectory_follower::longitudinal_utils::calcPoseAfterTimeDelay (const Pose &current_pose, const float64_t delay_time, const float64_t current_vel)
 calculate vehicle pose after time delay by moving the vehicle at current velocity for delayed time More...
 
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::lerp (const float64_t v_from, const float64_t v_to, const float64_t ratio)
 
TRAJECTORY_FOLLOWER_PUBLIC Quaternion autoware::motion::control::trajectory_follower::longitudinal_utils::lerpOrientation (const Quaternion &o_from, const Quaternion &o_to, const float64_t ratio)
 apply linear interpolation to orientation More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::applyDiffLimitFilter (const float64_t input_val, const float64_t prev_val, const float64_t dt, const float64_t max_val, const float64_t min_val)
 limit variable whose differential is within a certain value More...
 
TRAJECTORY_FOLLOWER_PUBLIC float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::applyDiffLimitFilter (const float64_t input_val, const float64_t prev_val, const float64_t dt, const float64_t lim_val)
 limit variable whose differential is within a certain value More...