Autoware.Auto
autoware::drivers::vehicle_interface Namespace Reference

Classes

class  Command
 Simple wrapper for control command and state command together. More...
 
class  DbwStateMachine
 Class for maintaining the DBW state. More...
 
struct  FilterConfig
 Convenience struct to construct filters. More...
 
class  Limits
 
class  PlatformInterface
 
class  SafetyStateMachine
 
class  StateMachineConfig
 Configuration class for SafetyStateMachine. More...
 
struct  TopicNumMatches
 Convenience struct for construction. More...
 
class  VehicleInterfaceNode
 

Typedefs

using MaybeStateCommand = std::experimental::optional< autoware_auto_vehicle_msgs::msg::VehicleStateCommand >
 
using BasicControlCommand = autoware_auto_vehicle_msgs::msg::VehicleControlCommand
 
using Odometry = autoware_auto_vehicle_msgs::msg::VehicleOdometry
 
using StateReport = autoware_auto_vehicle_msgs::msg::VehicleStateReport
 
using Real = decltype(BasicControlCommand::long_accel_mps2)
 
using VCC = autoware_auto_vehicle_msgs::msg::VehicleControlCommand
 

Enumerations

enum  DbwState { DbwState::DISABLED = 0, DbwState::ENABLE_REQUESTED = 1, DbwState::ENABLE_SENT = 2, DbwState::ENABLED = 3 }
 
enum  StateMachineReport : uint8_t {
  StateMachineReport::CLAMP_PAST_THRESHOLD, StateMachineReport::BAD_STATE, StateMachineReport::WIPERS_ON_HEADLIGHTS_ON, StateMachineReport::REMOVE_GEAR_COMMAND,
  StateMachineReport::HIGH_FREQUENCY_ACCELERATION_COMMAND, StateMachineReport::HIGH_FREQUENCY_STEER_COMMAND, StateMachineReport::HIGH_FREQUENCY_VELOCITY_REPORT, StateMachineReport::HIGH_FREQUENCY_STEER_REPORT,
  StateMachineReport::STATE_TRANSITION_TIMEOUT
}
 
enum  ViFeature { ViFeature::GEAR, ViFeature::HEADLIGHTS, ViFeature::HORN, ViFeature::WIPERS }
 

Typedef Documentation

◆ BasicControlCommand

using autoware::drivers::vehicle_interface::BasicControlCommand = typedef autoware_auto_vehicle_msgs::msg::VehicleControlCommand

◆ MaybeStateCommand

using autoware::drivers::vehicle_interface::MaybeStateCommand = typedef std::experimental::optional<autoware_auto_vehicle_msgs::msg::VehicleStateCommand>

◆ Odometry

using autoware::drivers::vehicle_interface::Odometry = typedef autoware_auto_vehicle_msgs::msg::VehicleOdometry

◆ Real

using autoware::drivers::vehicle_interface::Real = typedef decltype(BasicControlCommand::long_accel_mps2)

◆ StateReport

using autoware::drivers::vehicle_interface::StateReport = typedef autoware_auto_vehicle_msgs::msg::VehicleStateReport

◆ VCC

using autoware::drivers::vehicle_interface::VCC = typedef autoware_auto_vehicle_msgs::msg::VehicleControlCommand

Enumeration Type Documentation

◆ DbwState

Enumerator
DISABLED 
ENABLE_REQUESTED 
ENABLE_SENT 
ENABLED 

◆ StateMachineReport

Denotes one of the behaviors that the state machine has done; either a notification that it has done something (Info), or a warning that something bad has been detected

Enumerator
CLAMP_PAST_THRESHOLD 

Clamped a command that was way out of bounds.

BAD_STATE 

A state command was not one of the specified constants.

WIPERS_ON_HEADLIGHTS_ON 

Turn on headlights because you turned on wipers.

REMOVE_GEAR_COMMAND 

Converted gear command to GEAR_NO_COMMAND because you're going too fast.

HIGH_FREQUENCY_ACCELERATION_COMMAND 

Acceleration has high frequency components.

HIGH_FREQUENCY_STEER_COMMAND 

Steering has high frequency components.

HIGH_FREQUENCY_VELOCITY_REPORT 

Reported velocity has high frequency components.

HIGH_FREQUENCY_STEER_REPORT 

Reported steering has high frequency components.

STATE_TRANSITION_TIMEOUT 

Commanded state transition didn't happen.

◆ ViFeature

Enumerator
GEAR 
HEADLIGHTS 
HORN 
WIPERS