Parking motion planner.
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#include <parking_planner.hpp>
◆ ParkingPlanner()
Create a parking motion planner object. This can be changed to be dependency-injection.
- Parameters
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| [in] | parameters | Parameters of the vehicle model to use |
| [in] | nlp_weights | Cost function weight parameters to use in the non-linear optimization |
| [in] | lower_state_bounds | Lower bounds on the states (applied throught the horizon) |
| [in] | upper_state_bounds | Upper bounds on the states (applied throught the horizon) |
| [in] | lower_command_bounds | Lower bounds on the commands (applied throught the horizon) |
| [in] | upper_command_bounds | Upper bounds on the commands (applied throught the horizon) |
◆ get_parameters()
| const BicycleModelParameters<float64_t>& autoware::motion::planning::parking_planner::ParkingPlanner::get_parameters |
( |
| ) |
const |
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inline |
◆ plan()
| PlanningResult autoware::motion::planning::parking_planner::ParkingPlanner::plan |
( |
const VehicleState< float64_t > & |
current_state, |
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const VehicleState< float64_t > & |
goal_state, |
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const std::vector< Polytope2D< float64_t >> & |
obstacles |
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) |
| const |
Plan a maneuver in a synchronous manner. This call blocks.
- Parameters
-
| [in] | current_state | State of the vehicle at the start of the maneuver |
| [in] | goal_state | State the vehicle should be in at the end of the maneuver |
| [in] | obstacles | List of static obstacles to avoid, in the form of polyhedra |
- Returns
- Result of the planning procedure
The documentation for this class was generated from the following files: