autoware::motion::motion_common Namespace Reference

Typedefs
typedef autoware_auto_planning_msgs::msg::TrajectoryPoint	Point

typedef Eigen::Matrix< float64_t, 3, 1 >	Vector3f

Functions
MOTION_COMMON_PUBLIC void	validateNonEmpty (const Points &points)
	throws an exception if the given list of points is empty More...

MOTION_COMMON_PUBLIC float64_t	calcYawDeviation (const float64_t &base_yaw, const float64_t &target_yaw)
	calculate the yaw deviation between two angles More...

MOTION_COMMON_PUBLIC std::experimental::optional< size_t >	searchZeroVelocityIndex (const Points &points, const size_t src_idx, const size_t dst_idx, const float64_t epsilon=1e-3)
	search first index with a velocity of zero in the given range of points More...

MOTION_COMMON_PUBLIC std::experimental::optional< size_t >	searchZeroVelocityIndex (const Points &points)
	search first index with a velocity of zero in the given points More...

MOTION_COMMON_PUBLIC size_t	findNearestIndex (const Points &points, const geometry_msgs::msg::Point &point)
	search the index of the point nearest to the given target More...

MOTION_COMMON_PUBLIC std::experimental::optional< size_t >	findNearestIndex (const Points &points, const geometry_msgs::msg::Pose &pose, const float64_t max_dist=std::numeric_limits< float64_t >::max(), const float64_t max_yaw=std::numeric_limits< float64_t >::max())
	search the index of the point nearest to the given target with limits on the distance and yaw deviation More...

MOTION_COMMON_PUBLIC float64_t	calcLongitudinalOffsetToSegment (const Points &points, const size_t seg_idx, const geometry_msgs::msg::Point &p_target)
	calculate length along trajectory from seg_idx point to nearest point to p_target on trajectory If seg_idx point is after that nearest point, length is negative More...

MOTION_COMMON_PUBLIC size_t	findNearestSegmentIndex (const Points &points, const geometry_msgs::msg::Point &point)
	find nearest segment index to point segment is straight path between two continuous points of trajectory When point is on a trajectory point whose index is nearest_idx, return nearest_idx - 1 More...

MOTION_COMMON_PUBLIC float64_t	calcSignedArcLength (const Points &points, const size_t src_idx, const size_t dst_idx)
	calculate arc length along points More...

MOTION_COMMON_PUBLIC float64_t	calcSignedArcLength (const Points &points, const geometry_msgs::msg::Point &src_point, const size_t &dst_idx)
	calculate arc length along points More...

MOTION_COMMON_PUBLIC float64_t	calcSignedArcLength (const Points &points, const geometry_msgs::msg::Point &src_point, const geometry_msgs::msg::Point &dst_point)
	calculate arc length along points More...

MOTION_COMMON_PUBLIC float64_t	calcLongitudinalDeviation (const geometry_msgs::msg::Pose &base_pose, const geometry_msgs::msg::Point &target_point)
	calculate longitudinal deviation of a point relative to a pose More...

Variables
decltype(autoware_auto_planning_msgs::msg::Trajectory::points) typedef	Points

Typedef Documentation

◆ Point

typedef autoware_auto_planning_msgs::msg::TrajectoryPoint autoware::motion::motion_common::Point

◆ Vector3f

typedef Eigen::Matrix<float64_t, 3, 1> autoware::motion::motion_common::Vector3f

Function Documentation

◆ calcLongitudinalDeviation()

float64_t autoware::motion::motion_common::calcLongitudinalDeviation	(	const geometry_msgs::msg::Pose &	base_pose,
		const geometry_msgs::msg::Point &	target_point
	)

calculate longitudinal deviation of a point relative to a pose

Parameters

[in]	base_pose	base from which to calculate the deviation
[in]	target_point	point for which to calculate the deviation

Returns: longitudinal distance between the base and the target

◆ calcLongitudinalOffsetToSegment()

float64_t autoware::motion::motion_common::calcLongitudinalOffsetToSegment	(	const Points &	points,
		const size_t	seg_idx,
		const geometry_msgs::msg::Point &	p_target
	)

calculate length along trajectory from seg_idx point to nearest point to p_target on trajectory If seg_idx point is after that nearest point, length is negative

Parameters

points	trajectory points
seg_idx	segment index of point at beginning of length
p_target	target point at end of length

Returns: signed length

◆ calcSignedArcLength() [1/3]

float64_t autoware::motion::motion_common::calcSignedArcLength	(	const Points &	points,
		const geometry_msgs::msg::Point &	src_point,
		const geometry_msgs::msg::Point &	dst_point
	)

calculate arc length along points

Parameters

[in]	points	input points
[in]	src_point	source point
[in]	dst_point	destination point

Returns: arc length distance from source to destination along the input points

◆ calcSignedArcLength() [2/3]

float64_t autoware::motion::motion_common::calcSignedArcLength	(	const Points &	points,
		const geometry_msgs::msg::Point &	src_point,
		const size_t &	dst_idx
	)

calculate arc length along points

Parameters

[in]	points	input points
[in]	src_point	source point
[in]	dst_idx	destination index

Returns: arc length distance from source to destination along the input points

◆ calcSignedArcLength() [3/3]

float64_t autoware::motion::motion_common::calcSignedArcLength	(	const Points &	points,
		const size_t	src_idx,
		const size_t	dst_idx
	)

calculate arc length along points

Parameters

[in]	points	input points
[in]	src_idx	source index
[in]	dst_idx	destination index

Returns: arc length distance from source to destination along the input points

◆ calcYawDeviation()

float64_t autoware::motion::motion_common::calcYawDeviation	(	const float64_t &	base_yaw,
		const float64_t &	target_yaw
	)

calculate the yaw deviation between two angles

Parameters

[in]	base_yaw	base yaw angle [radians]
[in]	target_yaw	target yaw angle [radians]

Returns: normalized angle from the base to the target [radians]

◆ findNearestIndex() [1/2]

size_t autoware::motion::motion_common::findNearestIndex	(	const Points &	points,
		const geometry_msgs::msg::Point &	point
	)

search the index of the point nearest to the given target

Parameters

[in]	points	list of points to search
[in]	point	target point

Returns: index of the point nearest to the target

◆ findNearestIndex() [2/2]

std::experimental::optional< size_t > autoware::motion::motion_common::findNearestIndex	(	const Points &	points,
		const geometry_msgs::msg::Pose &	pose,
		const float64_t	max_dist = `std::numeric_limits<float64_t>::max()`,
		const float64_t	max_yaw = `std::numeric_limits<float64_t>::max()`
	)

search the index of the point nearest to the given target with limits on the distance and yaw deviation

Parameters

[in]	points	list of points to search
[in]	pose	target point
[in]	max_dist	optional maximum distance from the pose when searching for the nearest index
[in]	max_yaw	optional maximum deviation from the pose when searching for the nearest index

Returns: index of the point nearest to the target

◆ findNearestSegmentIndex()

size_t autoware::motion::motion_common::findNearestSegmentIndex	(	const Points &	points,
		const geometry_msgs::msg::Point &	point
	)

find nearest segment index to point segment is straight path between two continuous points of trajectory When point is on a trajectory point whose index is nearest_idx, return nearest_idx - 1

Parameters

points	points of trajectory
point	point to which to find nearest segment index

Returns: nearest index

◆ searchZeroVelocityIndex() [1/2]

std::experimental::optional< size_t > autoware::motion::motion_common::searchZeroVelocityIndex ( const Points & points )

search first index with a velocity of zero in the given points

Parameters

[in] points list of points to check

◆ searchZeroVelocityIndex() [2/2]

std::experimental::optional< size_t > autoware::motion::motion_common::searchZeroVelocityIndex	(	const Points &	points,
		const size_t	src_idx,
		const size_t	dst_idx,
		const float64_t	epsilon = `1e-3`
	)

search first index with a velocity of zero in the given range of points

Parameters

[in]	points	list of points to check
[in]	src_idx	starting search index
[in]	dst_idx	ending (excluded) search index
[in]	epsilon	optional value to use to determine zero velocities

Returns: index of the first zero velocity point found

◆ validateNonEmpty()

void autoware::motion::motion_common::validateNonEmpty ( const Points & points )

throws an exception if the given list of points is empty

Parameters

[in] points list of points to check

Variable Documentation

◆ Points

decltype(autoware_auto_planning_msgs::msg::Trajectory::points) typedef autoware::motion::motion_common::Points

Typedefs

Functions

Variables

Typedef Documentation

◆ Point

◆ Vector3f

Function Documentation

◆ calcLongitudinalDeviation()

◆ calcLongitudinalOffsetToSegment()

◆ calcSignedArcLength() [1/3]

◆ calcSignedArcLength() [2/3]

◆ calcSignedArcLength() [3/3]

◆ calcYawDeviation()

◆ findNearestIndex() [1/2]

◆ findNearestIndex() [2/2]

◆ findNearestSegmentIndex()

◆ searchZeroVelocityIndex() [1/2]

◆ searchZeroVelocityIndex() [2/2]

◆ validateNonEmpty()

Variable Documentation

◆ Points