trajectory_common.hpp File Reference
#include <experimental/optional>#include <limits>#include <stdexcept>#include <vector>#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"#include "common/types.hpp"#include "eigen3/Eigen/Core"#include "geometry/common_2d.hpp"#include "geometry_msgs/msg/pose.hpp"#include "geometry_msgs/msg/point.hpp"#include "helper_functions/angle_utils.hpp"#include "motion_common/motion_common.hpp"#include "tf2/utils.h"
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Namespaces | |
| autoware | |
| This file defines the lanelet2_map_provider_node class. | |
| autoware::motion | |
| autoware::motion::motion_common | |
Typedefs | |
| typedef autoware_auto_planning_msgs::msg::TrajectoryPoint | autoware::motion::motion_common::Point |
| typedef Eigen::Matrix< float64_t, 3, 1 > | autoware::motion::motion_common::Vector3f |
Functions | |
| MOTION_COMMON_PUBLIC void | autoware::motion::motion_common::validateNonEmpty (const Points &points) |
| throws an exception if the given list of points is empty More... | |
| MOTION_COMMON_PUBLIC float64_t | autoware::motion::motion_common::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 > | 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
| MOTION_COMMON_PUBLIC 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 More... | |
Variables | |
| decltype(autoware_auto_planning_msgs::msg::Trajectory::points) typedef | autoware::motion::motion_common::Points |