autoware::planning::freespace_planner Namespace Reference

Namespaces
	reeds_shepp

Classes
struct	AstarNode
struct	AstarParam
class	AstarSearch
	A* Hybrid algorithm implementation using ROS2 typical structures. More...
class	BasePlanningAlgorithm
	Planning algorithm base class. More...
class	FreespacePlannerNode
	Creates Hybrid A* planning algorithm node. More...
struct	IndexXY
struct	IndexXYT
struct	NodeComparison
struct	NodeParam
struct	NodeUpdate
struct	PlannerCommonParam
	Parameters defining common algorithm configuration. More...
struct	PlannerWaypoint
struct	PlannerWaypoints
	Trajectory points representation as an algorithms output. More...
class	ReedsShepp
	Class calculating shortest path on plane, considering arc and straight, forward and backward movements. The algorithm analyzes a sufficient subset of situations where robot can move clockwise, counterclockwise, straight in forward or backward direction. The clockwise and counterclockwise turns can be generalized by substituting the left/right nomenclature with an arc movement marked by the 'C' character. A straight movement can be marked as the 'S'. The situation "(...)CC(...)" means a change in the direction of the turn, regardless of whether the first turn is counterclockwise or clockwise. This class uses implementation of algorithm described by J. A. REEDS and L. A. SHEPP. For more detailed info please refer to "Optimal paths for a car that goes both forwards and backwards" paper. More...
struct	ReedsSheppNode
	Definition of car's position and orientation in ReedsShepp state space. More...
class	ReedsSheppPath
	Complete description of a ReedsShepp parametrized path. More...
struct	StateXYT
	Input position and orientation representation. More...
struct	VehicleShape
	Definition of essential vehicle dimensions. More...

Enumerations
enum	NodeStatus : uint8_t { NodeStatus::None, NodeStatus::Open, NodeStatus::Closed, NodeStatus::Obstacle }
enum	SearchStatus {   SearchStatus::SUCCESS, SearchStatus::FAILURE_COLLISION_AT_START, SearchStatus::FAILURE_COLLISION_AT_GOAL, SearchStatus::FAILURE_TIMEOUT_EXCEEDED,   SearchStatus::FAILURE_NO_PATH_FOUND }
	Possible planning results. More...
enum	ReedsSheppPathSegmentType { NO_OPERATION, COUNTERCLOCKWISE, STRAIGHT, CLOCKWISE }
	The Reeds-Shepp path segment types. More...
enum	FreespacePlannerState { FreespacePlannerState::IDLE, FreespacePlannerState::PLANNING }

Functions
double	normalizeRadian (const double rad, const double min_rad=-M_PI)
int	discretizeAngle (const double theta, const size_t theta_size)
geometry_msgs::msg::Pose	transformPose (const geometry_msgs::msg::Pose &pose, const geometry_msgs::msg::TransformStamped &transform)
	Transform pose using given transform. More...
IndexXYT	pose2index (const geometry_msgs::msg::Pose &pose_local, const float &costmap_resolution, const size_t theta_size)
	Transform pose floating-point values to discrete costmap coordinates. More...
geometry_msgs::msg::Pose	index2pose (const IndexXYT &index, const float &costmap_resolution, const size_t theta_size)
	Transform discrete costmap coordinates to floating-point pose values. More...
geometry_msgs::msg::Pose	global2local (const nav_msgs::msg::OccupancyGrid &costmap, const geometry_msgs::msg::Pose &pose_global)
	Transform pose from its frame to costmaps local frame. More...
geometry_msgs::msg::Pose	local2global (const nav_msgs::msg::OccupancyGrid &costmap, const geometry_msgs::msg::Pose &pose_local)
	Transform pose from costmaps to its original frame. More...
bool FREESPACE_PLANNER_PUBLIC	isSuccess (const SearchStatus &status)
	Determines if passed status is a success status. More...
constexpr double	deg2rad (const double deg)
double	calcReedsSheppDistance (const geometry_msgs::msg::Pose &p1, const geometry_msgs::msg::Pose &p2, double radius)
double	calcDistance2d (const geometry_msgs::msg::Point &p1, const geometry_msgs::msg::Point &p2)
double	calcDistance2d (const geometry_msgs::msg::Pose &p1, const geometry_msgs::msg::Pose &p2)
geometry_msgs::msg::Quaternion	makeQuaternionWithYaw (const double yaw)
geometry_msgs::msg::Pose	calcRelativePose (const geometry_msgs::msg::Pose &base_pose, const geometry_msgs::msg::Pose &pose)
geometry_msgs::msg::Pose	node2pose (const AstarNode &node)
AstarSearch::TransitionTable	createTransitionTable (const double minimum_turning_radius, const double maximum_turning_radius, const size_t turning_radius_size, const size_t theta_size, const bool use_back)
PlannerWaypoints	adjustWaypointsSize (const PlannerWaypoints &planner_waypoints)
autoware_auto_planning_msgs::msg::Trajectory	createTrajectory (const geometry_msgs::msg::PoseStamped &current_pose, const PlannerWaypoints &planner_waypoints, const float &velocity)

Variables
const ReedsSheppPathSegmentType	RP_PATH_TYPE [18][5]
	Reeds-Shepp path configurations. More...

Enumeration Type Documentation

FreespacePlannerState

enum autoware::planning::freespace_planner::FreespacePlannerState

strong

Enumerator
IDLE
PLANNING

NodeStatus

enum autoware::planning::freespace_planner::NodeStatus : uint8_t

strong

Enumerator
None
Open
Closed
Obstacle

ReedsSheppPathSegmentType

enum autoware::planning::freespace_planner::ReedsSheppPathSegmentType

The Reeds-Shepp path segment types.

Enumerator
NO_OPERATION
COUNTERCLOCKWISE
STRAIGHT
CLOCKWISE

SearchStatus

enum autoware::planning::freespace_planner::SearchStatus

strong

Possible planning results.

Enumerator
SUCCESS	Planning successful.
FAILURE_COLLISION_AT_START	Collision at start position detected.
FAILURE_COLLISION_AT_GOAL	Collision at goal position detected.
FAILURE_TIMEOUT_EXCEEDED	Planning timeout exceeded.
FAILURE_NO_PATH_FOUND	Planner didn't manage to find path.

Function Documentation

adjustWaypointsSize()

PlannerWaypoints autoware::planning::freespace_planner::adjustWaypointsSize

(

const PlannerWaypoints &

planner_waypoints

)

calcDistance2d() [1/2]

double autoware::planning::freespace_planner::calcDistance2d	(	const geometry_msgs::msg::Point &	p1,
		const geometry_msgs::msg::Point &	p2
	)

calcDistance2d() [2/2]

double autoware::planning::freespace_planner::calcDistance2d	(	const geometry_msgs::msg::Pose &	p1,
		const geometry_msgs::msg::Pose &	p2
	)

calcReedsSheppDistance()

double autoware::planning::freespace_planner::calcReedsSheppDistance	(	const geometry_msgs::msg::Pose &	p1,
		const geometry_msgs::msg::Pose &	p2,
		double	radius
	)

calcRelativePose()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::calcRelativePose	(	const geometry_msgs::msg::Pose &	base_pose,
		const geometry_msgs::msg::Pose &	pose
	)

createTrajectory()

autoware_auto_planning_msgs::msg::Trajectory autoware::planning::freespace_planner::createTrajectory	(	const geometry_msgs::msg::PoseStamped &	current_pose,
		const PlannerWaypoints &	planner_waypoints,
		const float &	velocity
	)

createTransitionTable()

AstarSearch::TransitionTable autoware::planning::freespace_planner::createTransitionTable	(	const double	minimum_turning_radius,
		const double	maximum_turning_radius,
		const size_t	turning_radius_size,
		const size_t	theta_size,
		const bool	use_back
	)

deg2rad()

constexpr double autoware::planning::freespace_planner::deg2rad ( const double  deg )

constexpr

discretizeAngle()

int autoware::planning::freespace_planner::discretizeAngle	(	const double	theta,
		const size_t	theta_size
	)

global2local()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::global2local	(	const nav_msgs::msg::OccupancyGrid &	costmap,
		const geometry_msgs::msg::Pose &	pose_global
	)

Transform pose from its frame to costmaps local frame.

index2pose()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::index2pose	(	const IndexXYT &	index,
		const float &	costmap_resolution,
		const size_t	theta_size
	)

Transform discrete costmap coordinates to floating-point pose values.

isSuccess()

bool FREESPACE_PLANNER_PUBLIC autoware::planning::freespace_planner::isSuccess ( const SearchStatus &  status )

inline

Determines if passed status is a success status.

local2global()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::local2global	(	const nav_msgs::msg::OccupancyGrid &	costmap,
		const geometry_msgs::msg::Pose &	pose_local
	)

Transform pose from costmaps to its original frame.

makeQuaternionWithYaw()

geometry_msgs::msg::Quaternion autoware::planning::freespace_planner::makeQuaternionWithYaw

(

const double

yaw

)

node2pose()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::node2pose

(

const AstarNode &

node

)

normalizeRadian()

double autoware::planning::freespace_planner::normalizeRadian	(	const double	rad,
		const double	min_rad = -M_PI
	)

pose2index()

IndexXYT autoware::planning::freespace_planner::pose2index	(	const geometry_msgs::msg::Pose &	pose_local,
		const float &	costmap_resolution,
		const size_t	theta_size
	)

Transform pose floating-point values to discrete costmap coordinates.

transformPose()

geometry_msgs::msg::Pose autoware::planning::freespace_planner::transformPose	(	const geometry_msgs::msg::Pose &	pose,
		const geometry_msgs::msg::TransformStamped &	transform
	)

Transform pose using given transform.

Variable Documentation

RP_PATH_TYPE

const ReedsSheppPathSegmentType autoware::planning::freespace_planner::RP_PATH_TYPE

Initial value:

= {
  {COUNTERCLOCKWISE, CLOCKWISE, COUNTERCLOCKWISE, NO_OPERATION, NO_OPERATION},  
  {CLOCKWISE, COUNTERCLOCKWISE, CLOCKWISE, NO_OPERATION, NO_OPERATION},         
  {COUNTERCLOCKWISE, CLOCKWISE, COUNTERCLOCKWISE, CLOCKWISE, NO_OPERATION},     
  {CLOCKWISE, COUNTERCLOCKWISE, CLOCKWISE, COUNTERCLOCKWISE, NO_OPERATION},     
  {COUNTERCLOCKWISE, CLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, NO_OPERATION},      
  {CLOCKWISE, COUNTERCLOCKWISE, STRAIGHT, CLOCKWISE, NO_OPERATION},             
  {COUNTERCLOCKWISE, STRAIGHT, CLOCKWISE, COUNTERCLOCKWISE, NO_OPERATION},      
  {CLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, CLOCKWISE, NO_OPERATION},             
  {COUNTERCLOCKWISE, CLOCKWISE, STRAIGHT, CLOCKWISE, NO_OPERATION},             
  {CLOCKWISE, COUNTERCLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, NO_OPERATION},      
  {CLOCKWISE, STRAIGHT, CLOCKWISE, COUNTERCLOCKWISE, NO_OPERATION},             
  {COUNTERCLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, CLOCKWISE, NO_OPERATION},      
  {COUNTERCLOCKWISE, STRAIGHT, CLOCKWISE, NO_OPERATION, NO_OPERATION},          
  {CLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, NO_OPERATION, NO_OPERATION},          
  {COUNTERCLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, NO_OPERATION, NO_OPERATION},   
  {CLOCKWISE, STRAIGHT, CLOCKWISE, NO_OPERATION, NO_OPERATION},                 
  {COUNTERCLOCKWISE, CLOCKWISE, STRAIGHT, COUNTERCLOCKWISE, CLOCKWISE},         
  {CLOCKWISE, COUNTERCLOCKWISE, STRAIGHT, CLOCKWISE, COUNTERCLOCKWISE}          
}

Reeds-Shepp path configurations.