A configuration class for the PurePursuit class.
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#include <config.hpp>
A configuration class for the PurePursuit class.
◆ Config()
| autoware::motion::control::pure_pursuit::Config::Config |
( |
const float32_t |
minimum_lookahead_distance, |
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const float32_t |
maximum_lookahead_distance, |
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const float32_t |
speed_to_lookahead_ratio, |
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const bool8_t |
is_interpolate_lookahead_point, |
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const bool8_t |
is_delay_compensation, |
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const float32_t |
emergency_stop_distance, |
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const float32_t |
speed_thres_traveling_direction, |
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const float32_t |
distance_front_rear_wheel |
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) |
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Constructor.
- Parameters
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| [in] | minimum_lookahead_distance | The minimum lookahead distance (meter) for the pure pursuit |
| [in] | maximum_lookahead_distance | The maximum lookahead distance (meter) for the pure pursuit |
| [in] | speed_to_lookahead_ratio | The conversion ratio from the speed to the lookahead distance. The ratio is equal to the duration (s) |
| [in] | is_interpolate_lookahead_point | The boolean whether using the interpolation for determining the target position |
| [in] | is_delay_compensation | The boolean whethre using the delay compensation for estimating the current vehicle position at the current timestamp |
| [in] | emergency_stop_distance | The emergency stop distance for the emergency stop |
| [in] | speed_thres_traveling_direction | The speed threshold for determining the traveling direction |
| [in] | distance_front_rear_wheel | The distance between front and rear wheels |
◆ get_distance_front_rear_wheel()
| float32_t autoware::motion::control::pure_pursuit::Config::get_distance_front_rear_wheel |
( |
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const |
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noexcept |
Gets the distance between front and rear wheels.
- Returns
- Fixed value
◆ get_emergency_stop_distance()
| float32_t autoware::motion::control::pure_pursuit::Config::get_emergency_stop_distance |
( |
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const |
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noexcept |
Gets the emergency target distance for the emergency stop.
- Returns
- Fixed value
◆ get_is_delay_compensation()
| bool8_t autoware::motion::control::pure_pursuit::Config::get_is_delay_compensation |
( |
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const |
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noexcept |
Gets the boolean whether using the delay compensation to estimate the current point.
- Returns
- Fixed value
◆ get_is_interpolate_lookahead_point()
| bool8_t autoware::motion::control::pure_pursuit::Config::get_is_interpolate_lookahead_point |
( |
| ) |
const |
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noexcept |
Gets the boolean whether using the interpolation to get the target point.
- Returns
- Fixed value
◆ get_maximum_lookahead_distance()
| float32_t autoware::motion::control::pure_pursuit::Config::get_maximum_lookahead_distance |
( |
| ) |
const |
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noexcept |
Gets the maximum lookahead distance for the pure pursuit.
- Returns
- Fixed value
◆ get_minimum_lookahead_distance()
| float32_t autoware::motion::control::pure_pursuit::Config::get_minimum_lookahead_distance |
( |
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const |
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noexcept |
Gets the minimum lookahead distance for the pure pursuit.
- Returns
- Fixed value
◆ get_speed_thres_traveling_direction()
| float32_t autoware::motion::control::pure_pursuit::Config::get_speed_thres_traveling_direction |
( |
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const |
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noexcept |
Gets the speed threshold for determining the traveling direction.
- Returns
- Fixed value
◆ get_speed_to_lookahead_ratio()
| float32_t autoware::motion::control::pure_pursuit::Config::get_speed_to_lookahead_ratio |
( |
| ) |
const |
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noexcept |
Gets the maximum lookahead distance for the pure pursuit.
- Returns
- Fixed value
The documentation for this class was generated from the following files: