motion::motion_common Namespace Reference

Classes
class	LimitsConfig
	Extreme values for state/control variables. More...

class	OptimizationConfig
	Specifies various parameters specific to the optimization problem and it's behaviors Depending on problem setup, some weights may be ignored. More...

class	StateWeight
	Specifies the weights used for particular state weights in the least-squares objective function of the mpc solver. More...

class	VehicleConfig
	Vehicle parameters specifying vehicle's handling performance. More...

Typedefs
using	Real = decltype(autoware_auto_planning_msgs::msg::TrajectoryPoint::longitudinal_velocity_mps)

using	Command = autoware_auto_vehicle_msgs::msg::VehicleControlCommand

using	Diagnostic = autoware_auto_system_msgs::msg::ControlDiagnostic

using	State = autoware_auto_vehicle_msgs::msg::VehicleKinematicState

using	Trajectory = autoware_auto_planning_msgs::msg::Trajectory

using	Orientation = geometry_msgs::msg::Quaternion

using	Double = decltype(Orientation::x)

using	Index = decltype(Trajectory::points)::size_type

using	Point = decltype(Trajectory::points)::value_type

Functions
MOTION_COMMON_PUBLIC bool	is_past_point (const Point &state, const Point &pt) noexcept
	Check if a state is past a given trajectory point, assuming heading is correct. More...

MOTION_COMMON_PUBLIC bool	is_past_point (const Point &state, const Point &current_pt, const Point &next_pt) noexcept

MOTION_COMMON_PUBLIC bool	is_past_point (const Point &state, const Point &pt, Double nx, Double ny) noexcept
	Given a normal, determine if state is past a point. More...

template<typename IsPastPointF >
Index	update_reference_index (const Trajectory &traj, const State &state, Index start_idx, IsPastPointF is_past_point)
	Advance to the first trajectory point past state according to criterion is_past_point. More...

MOTION_COMMON_PUBLIC bool	heading_ok (const Trajectory &traj)
	Check that all heading values in a trajectory are normalized 2D quaternions. More...

MOTION_COMMON_PUBLIC void	doTransform (const Point &t_in, Point &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to TrajectoryPoint. More...

MOTION_COMMON_PUBLIC void	doTransform (const State &t_in, State &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to VehicleKinematicState. More...

MOTION_COMMON_PUBLIC Double	to_angle (Orientation orientation) noexcept
	Converts 3D quaternion to simple heading representation. More...

template<typename RealT >
Orientation	from_angles (RealT roll, RealT pitch, RealT yaw) noexcept
	Converts angles into a corresponding Orientation. More...

template<typename RealT >
Orientation	from_angle (RealT angle) noexcept
	Converts a heading angle into a corresponding Orientation. More...

template<typename T >
T	clamp (T val, T min, T max)
	Standard clamp implementation. More...

template<typename T , typename RealT = double>
T	interpolate (T a, T b, RealT t)
	Standard linear interpolation. More...

MOTION_COMMON_PUBLIC Orientation	slerp (const Orientation &a, const Orientation &b, const Real t)
	Spherical linear interpolation. More...

template<typename SlerpF >
Point	interpolate (Point a, Point b, Real t, SlerpF slerp_fn)
	Trajectory point interpolation. More...

MOTION_COMMON_PUBLIC Point	interpolate (Point a, Point b, Real t)
	Default point interpolation. More...

template<typename SlerpF >
void	sample (const Trajectory &in, Trajectory &out, std::chrono::nanoseconds period, SlerpF slerp_fn)
	Sample a trajectory using interpolation; does not extrapolate. More...

MOTION_COMMON_PUBLIC void	sample (const Trajectory &in, Trajectory &out, std::chrono::nanoseconds period)
	Trajectory sampling with default interpolation. More...

MOTION_COMMON_PUBLIC void	error (const Point &state, const Point &ref, Diagnostic &out) noexcept
	Diagnostic header stuff. More...

Typedef Documentation

◆ Command

using motion::motion_common::Command = typedef autoware_auto_vehicle_msgs::msg::VehicleControlCommand

◆ Diagnostic

using motion::motion_common::Diagnostic = typedef autoware_auto_system_msgs::msg::ControlDiagnostic

◆ Double

using motion::motion_common::Double = typedef decltype(Orientation::x)

◆ Index

using motion::motion_common::Index = typedef decltype(Trajectory::points)::size_type

◆ Orientation

using motion::motion_common::Orientation = typedef geometry_msgs::msg::Quaternion

◆ Point

using motion::motion_common::Point = typedef decltype(Trajectory::points)::value_type

◆ Real

using motion::motion_common::Real = typedef decltype(autoware_auto_planning_msgs::msg::TrajectoryPoint::longitudinal_velocity_mps)

◆ State

using motion::motion_common::State = typedef autoware_auto_vehicle_msgs::msg::VehicleKinematicState

◆ Trajectory

using motion::motion_common::Trajectory = typedef autoware_auto_planning_msgs::msg::Trajectory

Function Documentation

◆ clamp()

template<typename T >

T motion::motion_common::clamp	(	T	val,
		T	min,
		T	max
	)

Standard clamp implementation.

◆ doTransform() [1/2]

void motion::motion_common::doTransform	(	const Point &	t_in,
		Point &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

noexcept

Apply transform to TrajectoryPoint.

◆ doTransform() [2/2]

void motion::motion_common::doTransform	(	const State &	t_in,
		State &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

noexcept

Apply transform to VehicleKinematicState.

◆ error()

void motion::motion_common::error	(	const Point &	state,
		const Point &	ref,
		Diagnostic &	out
	)

noexcept

Diagnostic header stuff.

◆ from_angle()

template<typename RealT >

Orientation motion::motion_common::from_angle ( RealT angle )

noexcept

Converts a heading angle into a corresponding Orientation.

Template Parameters

RealT a floating point type

Parameters

[in] angle heading angle to use as yaw of the Orientation [radians]

Returns: A converted Orientation object

◆ from_angles()

template<typename RealT >

Orientation motion::motion_common::from_angles	(	RealT	roll,
		RealT	pitch,
		RealT	yaw
	)

noexcept

Converts angles into a corresponding Orientation.

Template Parameters

RealT a floating point type

Parameters

[in]	roll	angle to use as roll of the Orientation [radians]
[in]	pitch	angle to use as pitch of the Orientation [radians]
[in]	yaw	angle to use as yaw of the Orientation [radians]

Returns: A converted Orientation object

◆ heading_ok()

bool motion::motion_common::heading_ok ( const Trajectory & traj )

Check that all heading values in a trajectory are normalized 2D quaternions.

◆ interpolate() [1/3]

Point motion::motion_common::interpolate	(	Point	a,
		Point	b,
		Real	t
	)

Default point interpolation.

◆ interpolate() [2/3]

template<typename SlerpF >

Point motion::motion_common::interpolate	(	Point	a,
		Point	b,
		Real	t,
		SlerpF	slerp_fn
	)

Trajectory point interpolation.

◆ interpolate() [3/3]

template<typename T , typename RealT = double>

T motion::motion_common::interpolate	(	T	a,
		T	b,
		RealT	t
	)

Standard linear interpolation.

◆ is_past_point() [1/3]

bool motion::motion_common::is_past_point	(	const Point &	state,
		const Point &	current_pt,
		const Point &	next_pt
	)

noexcept

Check if a state is past a given trajectory point given the last (aka current) trajectory point

◆ is_past_point() [2/3]

bool motion::motion_common::is_past_point	(	const Point &	state,
		const Point &	pt
	)

noexcept

Check if a state is past a given trajectory point, assuming heading is correct.

◆ is_past_point() [3/3]

bool motion::motion_common::is_past_point	(	const Point &	state,
		const Point &	pt,
		Double	nx,
		Double	ny
	)

noexcept

Given a normal, determine if state is past a point.

◆ sample() [1/2]

void motion::motion_common::sample	(	const Trajectory &	in,
		Trajectory &	out,
		std::chrono::nanoseconds	period
	)

Trajectory sampling with default interpolation.

◆ sample() [2/2]

template<typename SlerpF >

void motion::motion_common::sample	(	const Trajectory &	in,
		Trajectory &	out,
		std::chrono::nanoseconds	period,
		SlerpF	slerp_fn
	)

Sample a trajectory using interpolation; does not extrapolate.

◆ slerp()

Orientation motion::motion_common::slerp	(	const Orientation &	a,
		const Orientation &	b,
		const Real	t
	)

Spherical linear interpolation.

◆ to_angle()

Double motion::motion_common::to_angle ( Orientation orientation )

noexcept

Converts 3D quaternion to simple heading representation.

◆ update_reference_index()

template<typename IsPastPointF >

Index motion::motion_common::update_reference_index	(	const Trajectory &	traj,
		const State &	state,
		Index	start_idx,
		IsPastPointF	is_past_point
	)

Advance to the first trajectory point past state according to criterion is_past_point.

Classes

Typedefs

Functions

Typedef Documentation

◆ Command

◆ Diagnostic

◆ Double

◆ Index

◆ Orientation

◆ Point

◆ Real

◆ State

◆ Trajectory

Function Documentation

◆ clamp()

◆ doTransform() [1/2]

◆ doTransform() [2/2]

◆ error()

◆ from_angle()

◆ from_angles()

◆ heading_ok()

◆ interpolate() [1/3]

◆ interpolate() [2/3]

◆ interpolate() [3/3]

◆ is_past_point() [1/3]

◆ is_past_point() [2/3]

◆ is_past_point() [3/3]

◆ sample() [1/2]

◆ sample() [2/2]

◆ slerp()

◆ to_angle()

◆ update_reference_index()