autoware::common::state_vector Namespace Reference

Namespaces
	variable

Classes
struct	AngleVariable
	A tag struct used to disambiguate variables that store angles from other types. More...
class	GenericState
	A representation of a generic state vectors with specified variables. More...
struct	is_angle
	A trait to check if a variable represents an angle. More...
struct	is_state
	Forward-declare is_state trait. More...
struct	is_state< GenericState< ScalarT, VariableTs... > >
	A specialization of this trait for GenericState type. More...
struct	is_variable
	A trait to check if a type is a variable by checking if it inherits from Variable. More...
struct	Variable
	A tag struct used to disambiguate variables from other types. More...

Typedefs
template<typename ScalarT >
using	ConstAccelerationXY = GenericState< ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION >
	A 2D state with no rotation. More...
using	ConstAccelerationXY32 = ConstAccelerationXY< common::types::float32_t >
using	ConstAccelerationXY64 = ConstAccelerationXY< common::types::float64_t >
template<typename ScalarT >
using	ConstAccelerationXYZ = GenericState< ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION >
	A 3D state with no rotation. More...
using	ConstAccelerationXYZ32 = ConstAccelerationXYZ< common::types::float32_t >
using	ConstAccelerationXYZ64 = ConstAccelerationXYZ< common::types::float64_t >
template<typename ScalarT >
using	ConstAccelerationXYYaw = GenericState< ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION >
	A 2D state with a CCW rotation. More...
using	ConstAccelerationXYYaw32 = ConstAccelerationXYYaw< common::types::float32_t >
using	ConstAccelerationXYYaw64 = ConstAccelerationXYYaw< common::types::float64_t >
template<typename ScalarT >
using	ConstAccelerationXYZYaw = GenericState< ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION >
	A 3D state with a CCW yaw rotation. More...
using	ConstAccelerationXYZYaw32 = ConstAccelerationXYZYaw< common::types::float32_t >
using	ConstAccelerationXYZYaw64 = ConstAccelerationXYZYaw< common::types::float64_t >
template<typename ScalarT >
using	ConstAccelerationXYZRPY = GenericState< ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION, variable::ROLL, variable::ROLL_CHANGE_RATE, variable::ROLL_CHANGE_ACCELERATION, variable::PITCH, variable::PITCH_CHANGE_RATE, variable::PITCH_CHANGE_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION >
	A 3D state with a roll, pitch and yaw rotation. All rotations are CCW. More...
using	ConstAccelerationXYZRPY32 = ConstAccelerationXYZRPY< common::types::float32_t >
using	ConstAccelerationXYZRPY64 = ConstAccelerationXYZRPY< common::types::float64_t >
template<typename ScalarT >
using	ConstantAccelerationAndTurnRate = GenericState< ScalarT, variable::X, variable::Y, variable::YAW, variable::XY_VELOCITY, variable::YAW_CHANGE_RATE, variable::XY_ACCELERATION >
	A state consisting of a 2D position, CCW orientation, speed along the orientation vector, angle change rate and acceleration along the rotation vector. More...
using	ConstantAccelerationAndTurnRate32 = ConstantAccelerationAndTurnRate< common::types::float32_t >
using	ConstantAccelerationAndTurnRate64 = ConstantAccelerationAndTurnRate< common::types::float64_t >
template<typename ScalarT >
using	ConstantVelocityAndTurnRate = GenericState< ScalarT, variable::X, variable::Y, variable::YAW, variable::XY_VELOCITY, variable::YAW_CHANGE_RATE >
	A state consisting of a 2D position, CCW orientation, speed along the orientation vector, and an orientation change rate. More...
using	ConstantVelocityAndTurnRate32 = ConstantVelocityAndTurnRate< common::types::float32_t >
using	ConstantVelocityAndTurnRate64 = ConstantVelocityAndTurnRate< common::types::float64_t >
template<typename ... Ts>
using	FloatState = GenericState< common::types::float32_t, Ts... >
	A typedef for the 32 bit floating point state. More...
template<typename ... Ts>
using	DoubleState = GenericState< common::types::float64_t, Ts... >
	A typedef for the 64 bit floating point state. More...

Typedef Documentation

ConstAccelerationXY

template<typename ScalarT >

using autoware::common::state_vector::ConstAccelerationXY = typedef GenericState<ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION>

A 2D state with no rotation.

All variables have their value, velocity and acceleration. All of the variables are assumed to be independent here.

ConstAccelerationXY32

using autoware::common::state_vector::ConstAccelerationXY32 = typedef ConstAccelerationXY<common::types::float32_t>

ConstAccelerationXY64

using autoware::common::state_vector::ConstAccelerationXY64 = typedef ConstAccelerationXY<common::types::float64_t>

ConstAccelerationXYYaw

template<typename ScalarT >

using autoware::common::state_vector::ConstAccelerationXYYaw = typedef GenericState<ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>

A 2D state with a CCW rotation.

All variables in this state have their value, velocity and acceleration. All of these variables are assumed to be independent here.

ConstAccelerationXYYaw32

using autoware::common::state_vector::ConstAccelerationXYYaw32 = typedef ConstAccelerationXYYaw<common::types::float32_t>

ConstAccelerationXYYaw64

using autoware::common::state_vector::ConstAccelerationXYYaw64 = typedef ConstAccelerationXYYaw<common::types::float64_t>

ConstAccelerationXYZ

template<typename ScalarT >

using autoware::common::state_vector::ConstAccelerationXYZ = typedef GenericState<ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION>

A 3D state with no rotation.

All variables have their value, velocity and acceleration. All of the variables are assumed to be independent here.

ConstAccelerationXYZ32

using autoware::common::state_vector::ConstAccelerationXYZ32 = typedef ConstAccelerationXYZ<common::types::float32_t>

ConstAccelerationXYZ64

using autoware::common::state_vector::ConstAccelerationXYZ64 = typedef ConstAccelerationXYZ<common::types::float64_t>

ConstAccelerationXYZRPY

template<typename ScalarT >

using autoware::common::state_vector::ConstAccelerationXYZRPY = typedef GenericState<ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION, variable::ROLL, variable::ROLL_CHANGE_RATE, variable::ROLL_CHANGE_ACCELERATION, variable::PITCH, variable::PITCH_CHANGE_RATE, variable::PITCH_CHANGE_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>

A 3D state with a roll, pitch and yaw rotation. All rotations are CCW.

All variables in this state have their value, velocity and acceleration. All of these variables are assumed to be independent here.

Note

While any values can be stored in ROLL, PITCH and YAW variables and, strictly speaking, the state itself does not enforce any convention, throughout our code base we use the convention in which ROLL represents a rotation around X axis, PITCH - around Y axis and YAW - around Z axis. Furthermore, they usually represent intrinsic rotation and get applied in ZYX order, i.e., first, the rotation around Z axis is applied, then the rotation around the resulting Y axis, then the rotation around the resulting X axis.

ConstAccelerationXYZRPY32

using autoware::common::state_vector::ConstAccelerationXYZRPY32 = typedef ConstAccelerationXYZRPY<common::types::float32_t>

ConstAccelerationXYZRPY64

using autoware::common::state_vector::ConstAccelerationXYZRPY64 = typedef ConstAccelerationXYZRPY<common::types::float64_t>

ConstAccelerationXYZYaw

template<typename ScalarT >

using autoware::common::state_vector::ConstAccelerationXYZYaw = typedef GenericState<ScalarT, variable::X, variable::X_VELOCITY, variable::X_ACCELERATION, variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION, variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION, variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>

A 3D state with a CCW yaw rotation.

All variables in this state have their value, velocity and acceleration. All of these variables are assumed to be independent here.

ConstAccelerationXYZYaw32

using autoware::common::state_vector::ConstAccelerationXYZYaw32 = typedef ConstAccelerationXYZYaw<common::types::float32_t>

ConstAccelerationXYZYaw64

using autoware::common::state_vector::ConstAccelerationXYZYaw64 = typedef ConstAccelerationXYZYaw<common::types::float64_t>

ConstantAccelerationAndTurnRate

template<typename ScalarT >

using autoware::common::state_vector::ConstantAccelerationAndTurnRate = typedef GenericState<ScalarT, variable::X, variable::Y, variable::YAW, variable::XY_VELOCITY, variable::YAW_CHANGE_RATE, variable::XY_ACCELERATION>

A state consisting of a 2D position, CCW orientation, speed along the orientation vector, angle change rate and acceleration along the rotation vector.

This state is usually used for the CATR motion model: i.e., a model in which Constant Acceleration and Turn Rate are assumed for a differential drive base.

ConstantAccelerationAndTurnRate32

using autoware::common::state_vector::ConstantAccelerationAndTurnRate32 = typedef ConstantAccelerationAndTurnRate<common::types::float32_t>

ConstantAccelerationAndTurnRate64

using autoware::common::state_vector::ConstantAccelerationAndTurnRate64 = typedef ConstantAccelerationAndTurnRate<common::types::float64_t>

ConstantVelocityAndTurnRate

template<typename ScalarT >

using autoware::common::state_vector::ConstantVelocityAndTurnRate = typedef GenericState<ScalarT, variable::X, variable::Y, variable::YAW, variable::XY_VELOCITY, variable::YAW_CHANGE_RATE>

A state consisting of a 2D position, CCW orientation, speed along the orientation vector, and an orientation change rate.

This state is usually used for the CVTR motion model: i.e., a model in which Constant Velocity and Turn Rate are assumed for a differential drive base.

ConstantVelocityAndTurnRate32

using autoware::common::state_vector::ConstantVelocityAndTurnRate32 = typedef ConstantVelocityAndTurnRate<common::types::float32_t>

ConstantVelocityAndTurnRate64

using autoware::common::state_vector::ConstantVelocityAndTurnRate64 = typedef ConstantVelocityAndTurnRate<common::types::float64_t>

DoubleState

template<typename ... Ts>

using autoware::common::state_vector::DoubleState = typedef GenericState<common::types::float64_t, Ts...>

A typedef for the 64 bit floating point state.

FloatState

template<typename ... Ts>

using autoware::common::state_vector::FloatState = typedef GenericState<common::types::float32_t, Ts...>

A typedef for the 32 bit floating point state.