motion_testing.cpp File Reference

#include "motion_testing/motion_testing.hpp"
#include <tf2/convert.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <time_utils/time_utils.hpp>
#include <limits>

Include dependency graph for motion_testing.cpp:

Namespaces
	motion
	motion::motion_testing

Functions
MOTION_TESTING_PUBLIC State	motion::motion_testing::make_state (Real x0, Real y0, Real heading, Real v0, Real a0, Real turn_rate, std::chrono::system_clock::time_point t)
	Makes a state, intended to make message generation more terse. More...
MOTION_TESTING_PUBLIC State	motion::motion_testing::generate_state (Generator &gen)
	Generates a state from a normal distribution with the following bounds: TODO(c.ho) More...
MOTION_TESTING_PUBLIC Trajectory	motion::motion_testing::generate_trajectory (const State &start_state, Generator &gen)
	Generates a trajectory assuming the starting state, a bicycle model, and additive noise applied to XXX Note: not implemented. More...
MOTION_TESTING_PUBLIC Trajectory	motion::motion_testing::constant_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generate a trajectory given the start state, assuming the highest derivatives are held constant. Note: heading_rate behavior will be kind of off TODO(c.ho) Note: lateral_velocity_mps will not be respected TODO(cho) More...
MOTION_TESTING_PUBLIC Trajectory	motion::motion_testing::bad_heading_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generates a constant velocity trajectory. More...
Trajectory	motion::motion_testing::constant_velocity_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const std::chrono::nanoseconds dt)
Trajectory	motion::motion_testing::constant_acceleration_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real a0, const std::chrono::nanoseconds dt)
Trajectory	motion::motion_testing::constant_velocity_turn_rate_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real turn_rate, const std::chrono::nanoseconds dt)
Trajectory	motion::motion_testing::constant_acceleration_turn_rate_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real a0, const Real turn_rate, const std::chrono::nanoseconds dt)
MOTION_TESTING_PUBLIC void	motion::motion_testing::next_state (const Trajectory &trajectory, State &state, uint32_t hint, Generator *gen=nullptr)
MOTION_TESTING_PUBLIC Index	motion::motion_testing::progresses_towards_target (const Trajectory &trajectory, const Point &target, Real heading_tolerance=Real{0.006F})
MOTION_TESTING_PUBLIC Index	motion::motion_testing::dynamically_feasible (const Trajectory &trajectory, Real tolerance=0.05F)