motion::motion_testing Namespace Reference

Typedefs
using	Generator = std::mt19937
using	State = autoware_auto_vehicle_msgs::msg::VehicleKinematicState
using	Point = autoware_auto_planning_msgs::msg::TrajectoryPoint
using	Trajectory = autoware_auto_planning_msgs::msg::Trajectory
using	Index = decltype(Trajectory::points)::size_type
using	Real = decltype(Point::longitudinal_velocity_mps)

Functions
MOTION_TESTING_PUBLIC State	make_state (Real x0, Real y0, Real heading, Real v0, Real a0, Real turn_rate, std::chrono::system_clock::time_point t)
	Makes a state, intended to make message generation more terse. More...
MOTION_TESTING_PUBLIC State	generate_state (Generator &gen)
	Generates a state from a normal distribution with the following bounds: TODO(c.ho) More...
MOTION_TESTING_PUBLIC Trajectory	generate_trajectory (const State &start_state, Generator &gen)
	Generates a trajectory assuming the starting state, a bicycle model, and additive noise applied to XXX Note: not implemented. More...
MOTION_TESTING_PUBLIC Trajectory	constant_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generate a trajectory given the start state, assuming the highest derivatives are held constant. Note: heading_rate behavior will be kind of off TODO(c.ho) Note: lateral_velocity_mps will not be respected TODO(cho) More...
MOTION_TESTING_PUBLIC Trajectory	bad_heading_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generates a constant velocity trajectory. More...
MOTION_TESTING_PUBLIC Trajectory	constant_velocity_trajectory (float x0, float y0, float heading, float v0, std::chrono::nanoseconds dt)
	Generates a constant velocity trajectory with invalid heading values. More...
MOTION_TESTING_PUBLIC Trajectory	constant_acceleration_trajectory (float x0, float y0, float heading, float v0, float a0, std::chrono::nanoseconds dt)
	Generates a constant acceleration trajectory. More...
MOTION_TESTING_PUBLIC Trajectory	constant_velocity_turn_rate_trajectory (float x0, float y0, float heading, float v0, float turn_rate, std::chrono::nanoseconds dt)
	Generates a constant velocity and constant turn rate trajectory. More...
MOTION_TESTING_PUBLIC Trajectory	constant_acceleration_turn_rate_trajectory (float x0, float y0, float heading, float v0, float a0, float turn_rate, std::chrono::nanoseconds dt)
	Generates a constant acceleration and constant turn rate trajectory. More...
MOTION_TESTING_PUBLIC void	next_state (const Trajectory &trajectory, State &state, uint32_t hint, Generator *gen=nullptr)
MOTION_TESTING_PUBLIC Index	progresses_towards_target (const Trajectory &trajectory, const Point &target, Real heading_tolerance=Real{0.006F})
MOTION_TESTING_PUBLIC Index	dynamically_feasible (const Trajectory &trajectory, Real tolerance=0.05F)
Trajectory	constant_velocity_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const std::chrono::nanoseconds dt)
Trajectory	constant_acceleration_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real a0, const std::chrono::nanoseconds dt)
Trajectory	constant_velocity_turn_rate_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real turn_rate, const std::chrono::nanoseconds dt)
Trajectory	constant_acceleration_turn_rate_trajectory (const Real x0, const Real y0, const Real heading, const Real v0, const Real a0, const Real turn_rate, const std::chrono::nanoseconds dt)

Typedef Documentation

Generator

using motion::motion_testing::Generator = typedef std::mt19937

Index

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

Point

using motion::motion_testing::Point = typedef autoware_auto_planning_msgs::msg::TrajectoryPoint

Real

using motion::motion_testing::Real = typedef decltype(Point::longitudinal_velocity_mps)

State

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

Trajectory

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

Function Documentation

bad_heading_trajectory()

Trajectory motion::motion_testing::bad_heading_trajectory	(	const State &	start_state,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity trajectory.

constant_acceleration_trajectory() [1/2]

Trajectory motion::motion_testing::constant_acceleration_trajectory	(	const Real	x0,
		const Real	y0,
		const Real	heading,
		const Real	v0,
		const Real	a0,
		const std::chrono::nanoseconds	dt
	)

constant_acceleration_trajectory() [2/2]

MOTION_TESTING_PUBLIC Trajectory motion::motion_testing::constant_acceleration_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	a0,
		std::chrono::nanoseconds	dt
	)

Generates a constant acceleration trajectory.

constant_acceleration_turn_rate_trajectory() [1/2]

Trajectory motion::motion_testing::constant_acceleration_turn_rate_trajectory	(	const Real	x0,
		const Real	y0,
		const Real	heading,
		const Real	v0,
		const Real	a0,
		const Real	turn_rate,
		const std::chrono::nanoseconds	dt
	)

constant_acceleration_turn_rate_trajectory() [2/2]

MOTION_TESTING_PUBLIC Trajectory motion::motion_testing::constant_acceleration_turn_rate_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	a0,
		float	turn_rate,
		std::chrono::nanoseconds	dt
	)

Generates a constant acceleration and constant turn rate trajectory.

constant_trajectory()

Trajectory motion::motion_testing::constant_trajectory	(	const State &	start_state,
		std::chrono::nanoseconds	dt
	)

Generate a trajectory given the start state, assuming the highest derivatives are held constant. Note: heading_rate behavior will be kind of off TODO(c.ho) Note: lateral_velocity_mps will not be respected TODO(cho)

constant_velocity_trajectory() [1/2]

Trajectory motion::motion_testing::constant_velocity_trajectory	(	const Real	x0,
		const Real	y0,
		const Real	heading,
		const Real	v0,
		const std::chrono::nanoseconds	dt
	)

constant_velocity_trajectory() [2/2]

MOTION_TESTING_PUBLIC Trajectory motion::motion_testing::constant_velocity_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity trajectory with invalid heading values.

constant_velocity_turn_rate_trajectory() [1/2]

Trajectory motion::motion_testing::constant_velocity_turn_rate_trajectory	(	const Real	x0,
		const Real	y0,
		const Real	heading,
		const Real	v0,
		const Real	turn_rate,
		const std::chrono::nanoseconds	dt
	)

constant_velocity_turn_rate_trajectory() [2/2]

MOTION_TESTING_PUBLIC Trajectory motion::motion_testing::constant_velocity_turn_rate_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	turn_rate,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity and constant turn rate trajectory.

dynamically_feasible()

Index motion::motion_testing::dynamically_feasible	(	const Trajectory &	trajectory,
		Real	tolerance = 0.05F
	)

Checks that a trajectory is more or less dynamically feasible given the derivatives; tolerance is relative tolerance of trajectory, index is first point that is not dynamically feasible, trajectory.size() if completely feasible

generate_state()

State motion::motion_testing::generate_state

(

Generator &

gen

)

Generates a state from a normal distribution with the following bounds: TODO(c.ho)

generate_trajectory()

Trajectory motion::motion_testing::generate_trajectory	(	const State &	start_state,
		Generator &	gen
	)

Generates a trajectory assuming the starting state, a bicycle model, and additive noise applied to XXX Note: not implemented.

make_state()

State motion::motion_testing::make_state	(	Real	x0,
		Real	y0,
		Real	heading,
		Real	v0,
		Real	a0,
		Real	turn_rate,
		std::chrono::system_clock::time_point	t
	)

Makes a state, intended to make message generation more terse.

next_state()

void motion::motion_testing::next_state	(	const Trajectory &	trajectory,
		State &	state,
		uint32_t	hint,
		Generator *	gen = nullptr
	)

Given a trajectory, advance state to next trajectory point, with normally distributed noise Note: This version takes "hint" as gospel, and doesn't try to do any time/space matching Note: not implemented

progresses_towards_target()

Index motion::motion_testing::progresses_towards_target	(	const Trajectory &	trajectory,
		const Point &	target,
		Real	heading_tolerance = Real{0.006F}
	)

Checks that a trajectory makes constant progress towards a target; returns first index of point that doesn't advance towards target, otherwise size of trajectory heading tolerance is in dot product space of 2d quaternion