motion_common.hpp File Reference
#include <motion_common/visibility_control.hpp>#include <autoware_auto_msgs/msg/control_diagnostic.hpp>#include <autoware_auto_msgs/msg/trajectory.hpp>#include <autoware_auto_msgs/msg/vehicle_control_command.hpp>#include <autoware_auto_msgs/msg/vehicle_kinematic_state.hpp>#include <geometry_msgs/msg/transform_stamped.hpp>#include <time_utils/time_utils.hpp>#include <algorithm>#include <cmath>
Include dependency graph for motion_common.hpp:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
Namespaces | |
| motion | |
| motion::motion_common | |
| autoware_auto_msgs | |
| autoware_auto_msgs::msg | |
Typedefs | |
| using | motion::motion_common::Real = decltype(autoware_auto_msgs::msg::TrajectoryPoint::x) |
| using | motion::motion_common::Command = autoware_auto_msgs::msg::VehicleControlCommand |
| using | motion::motion_common::Diagnostic = autoware_auto_msgs::msg::ControlDiagnostic |
| using | motion::motion_common::State = autoware_auto_msgs::msg::VehicleKinematicState |
| using | motion::motion_common::Trajectory = autoware_auto_msgs::msg::Trajectory |
| using | motion::motion_common::Heading = decltype(decltype(State::state)::heading) |
| using | motion::motion_common::Index = decltype(Trajectory::points)::size_type |
| using | motion::motion_common::Point = decltype(Trajectory::points)::value_type |
Functions | |
| MOTION_COMMON_PUBLIC 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. More... | |
| MOTION_COMMON_PUBLIC bool | motion::motion_common::is_past_point (const Point &state, const Point ¤t_pt, const Point &next_pt) noexcept |
| MOTION_COMMON_PUBLIC bool | motion::motion_common::is_past_point (const Point &state, const Point &pt, Real nx, Real ny) noexcept |
| Given a normal, determine if state is past a point. More... | |
| MOTION_COMMON_PUBLIC bool | motion::motion_common::is_aligned (Heading a, Heading b, Real dot_threshold) |
| Check if cosine angle is less than some dot product threshold. More... | |
| 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. More... | |
| MOTION_COMMON_PUBLIC bool | motion::motion_common::heading_ok (const Trajectory &traj) |
| Check that all heading values in a trajectory are normalized 2D quaternions. More... | |
| MOTION_COMMON_PUBLIC void | motion::motion_common::doTransform (const Point &t_in, Point &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept |
| Apply transform to TrajectoryPoint. More... | |
| MOTION_COMMON_PUBLIC void | motion::motion_common::doTransform (const State &t_in, State &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept |
| Apply transform to VehicleKinematicState. More... | |
| MOTION_COMMON_PUBLIC Real | motion::motion_common::to_angle (Heading heading) noexcept |
| Converts 2D quaternion to simple heading representation. More... | |
| template<typename RealT > | |
| Heading | motion::motion_common::from_angle (RealT angle) noexcept |
| Basic conversion. More... | |
| template<typename QuatT > | |
| Heading | motion::motion_common::from_quat (QuatT quat) noexcept |
| Converts a quaternion-like object to a simple heading representation. More... | |
| template<typename QuatT > | |
| QuatT | motion::motion_common::to_quat (Heading heading) noexcept |
| Converts a simple heading representation into a quaternion-like object. More... | |
| template<typename T > | |
| T | motion::motion_common::clamp (T val, T min, T max) |
| Standard clamp implementation. More... | |
| template<typename T , typename RealT = double> | |
| T | motion::motion_common::interpolate (T a, T b, RealT t) |
| Standard linear interpolation. More... | |
| MOTION_COMMON_PUBLIC Heading | motion::motion_common::nlerp (Heading a, Heading b, Real t) |
| template<typename SlerpF > | |
| Point | motion::motion_common::interpolate (Point a, Point b, Real t, SlerpF slerp_fn) |
| Trajectory point interpolation. More... | |
| MOTION_COMMON_PUBLIC Point | motion::motion_common::interpolate (Point a, Point b, Real t) |
| Default point interpolation, currently uses nlerp. More... | |
| 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. More... | |
| MOTION_COMMON_PUBLIC void | motion::motion_common::sample (const Trajectory &in, Trajectory &out, std::chrono::nanoseconds period) |
| Trajectory sampling with default interpolation (of nlerp) More... | |
| MOTION_COMMON_PUBLIC void | motion::motion_common::error (const Point &state, const Point &ref, Diagnostic &out) noexcept |
| Diagnostic header stuff. More... | |
| MOTION_COMMON_PUBLIC Complex32 | autoware_auto_msgs::msg::operator+ (Complex32 a, Complex32 b) noexcept |
| Addition operator. More... | |
| MOTION_COMMON_PUBLIC Complex32 | autoware_auto_msgs::msg::operator- (Complex32 a) noexcept |
| Unary minus. More... | |
| MOTION_COMMON_PUBLIC Complex32 | autoware_auto_msgs::msg::operator- (Complex32 a, Complex32 b) noexcept |
| Difference operator. More... | |