Functionality relating to prediction, including state estimation, kinematic prediction, maneuver-based prediction, map-aware prediction etc... More...

Namespaces
	detail

	kalman_filter
	Contains the kalman filter package and related classes and functionality.

	state

	state_estimation_nodes

	variable

Classes
struct	AngleVariable
	A tag struct used to disambiguate variables that store angles from other types. More...

class	GenericState
	A representation of a generic state vectors with specified variables. More...

class	History
	This class encapsulates a history of events used with EKF. More...

struct	is_angle
	A trait to check if a variable represents an angle. More...

struct	is_state
	Forward-declare is_state trait. More...

struct	is_state< GenericState< ScalarT, VariableTs... > >
	A specialization of this trait for GenericState type. More...

struct	is_variable
	A trait to check if a type is a variable by checking if it inherits from Variable. More...

class	KalmanFilterWrapper
	This class provides a high level interface to the Kalman Filter allowing to predict the state of the filter with time and observe it by receiving ROS messages. More...

class	LinearMeasurement
	A class that represents a linear measurement. More...

class	LinearMotionModel
	A generic linear motion model class. More...

class	Measurement

struct	MeasurementInterface
	A CRTP interface to any measurement. More...

class	MotionModelInterface
	A CRTP interface for any motion model. More...

class	NoiseInterface
	A CRTP interface for implementing noise models used for providing motion model noise covariance. More...

struct	PredictionEvent
	An event to indicate a prediction step. More...

struct	ResetEvent
	An event to reset the state of the filter. More...

class	SteadyTimeGrid
	This is a utility class that allows querying timestamps on a 1D grid. More...

struct	Variable
	A tag struct used to disambiguate variables from other types. More...

class	WienerNoise
	A class that describes the Wiener process noise. More...

Typedefs
template<typename ... Ts>
using	FloatState = GenericState< common::types::float32_t, Ts... >
	A typedef for the 32 bit floating point state. More...

template<typename ... Ts>
using	DoubleState = GenericState< common::types::float64_t, Ts... >
	A typedef for the 64 bit floating point state. More...

using	ConstantAccelerationFilter = KalmanFilterWrapper< motion::motion_model::ConstantAcceleration, 6, 2 >

using	MeasurementPose = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y >

using	MeasurementPoseAndSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

using	MeasurementSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

Functions
template<typename MeasurementT , typename MessageT >
MeasurementT	message_to_measurement (const MessageT &, const Eigen::Isometry3f &)
	Interface for converting a message into a measurement. More...

template<std::int32_t kStateDimentionality, typename FloatT >
static constexpr Eigen::Transform< FloatT, kStateDimentionality, Eigen::TransformTraits::Isometry >	downscale_isometry (const Eigen::Transform< FloatT, 3, Eigen::TransformTraits::Isometry > &isometry)
	Downscale the isometry to a lower dimention if needed. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPoseAndSpeed	message_to_measurement (const nav_msgs::msg::Odometry &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for odometry message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementSpeed	message_to_measurement (const geometry_msgs::msg::TwistWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for twist message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPose	message_to_measurement (const geometry_msgs::msg::PoseWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for pose message. More...

template<>
MeasurementPoseAndSpeed	message_to_measurement (const nav_msgs::msg::Odometry &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for odometry message. More...

template<>
MeasurementSpeed	message_to_measurement (const geometry_msgs::msg::TwistWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for twist message. More...

template<>
MeasurementPose	message_to_measurement (const geometry_msgs::msg::PoseWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for pose message. More...

Detailed Description

Functionality relating to prediction, including state estimation, kinematic prediction, maneuver-based prediction, map-aware prediction etc...

Typedef Documentation

◆ ConstantAccelerationFilter

using autoware::prediction::ConstantAccelerationFilter = typedef KalmanFilterWrapper<motion::motion_model::ConstantAcceleration, 6, 2>

◆ DoubleState

template<typename ... Ts>

using autoware::prediction::DoubleState = typedef GenericState<common::types::float64_t, Ts...>

A typedef for the 64 bit floating point state.

◆ FloatState

template<typename ... Ts>

using autoware::prediction::FloatState = typedef GenericState<common::types::float32_t, Ts...>

A typedef for the 32 bit floating point state.

◆ MeasurementPose

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y > autoware::prediction::MeasurementPose

◆ MeasurementPoseAndSpeed

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y > autoware::prediction::MeasurementPoseAndSpeed

◆ MeasurementSpeed

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y > autoware::prediction::MeasurementSpeed

Function Documentation

◆ downscale_isometry()

template<std::int32_t kStateDimentionality, typename FloatT >

static constexpr Eigen::Transform< FloatT, kStateDimentionality, Eigen::TransformTraits::Isometry> autoware::prediction::downscale_isometry ( const Eigen::Transform< FloatT, 3, Eigen::TransformTraits::Isometry > & isometry )

static

Downscale the isometry to a lower dimention if needed.

Parameters

[in] isometry The isometry transform

Template Parameters

kStateDimentionality	Dimentionality of the space.
FloatT	Type of scalar.

Returns: Downscaled isometry.

◆ message_to_measurement() [1/7]

template<>

MeasurementPoseAndSpeed autoware::prediction::message_to_measurement	(	const nav_msgs::msg::Odometry &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for odometry message.

Parameters

[in]	msg	The odometry message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing pose and speed.

◆ message_to_measurement() [2/7]

template<typename MeasurementT , typename MessageT >

MeasurementT autoware::prediction::message_to_measurement	(	const MessageT &	,
		const Eigen::Isometry3f &
	)

Interface for converting a message into a measurement.

Template Parameters

MeasurementT	Type of measurement.
MessageT	Type of ROS 2 message.

Returns: The measurement created from a message.

◆ message_to_measurement() [3/7]

template<>

MeasurementSpeed autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::TwistWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for twist message.

Parameters

[in]	msg	The twist message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing speed.

◆ message_to_measurement() [4/7]

template<>

MeasurementPose autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::PoseWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for pose message.

Parameters

[in]	msg	The pose message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing pose.

◆ message_to_measurement() [5/7]

template<>

STATE_ESTIMATION_NODES_PUBLIC MeasurementPoseAndSpeed autoware::prediction::message_to_measurement	(	const nav_msgs::msg::Odometry &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for odometry message.

Parameters

[in]	msg	The odometry message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing pose and speed.

◆ message_to_measurement() [6/7]

template<>

STATE_ESTIMATION_NODES_PUBLIC MeasurementSpeed autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::TwistWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for twist message.

Parameters

[in]	msg	The twist message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing speed.

◆ message_to_measurement() [7/7]

template<>

STATE_ESTIMATION_NODES_PUBLIC MeasurementPose autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::PoseWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf_world_message
	)

Specialization of message_to_measurement for pose message.

Parameters

[in]	msg	The pose message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing pose.

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ ConstantAccelerationFilter

◆ DoubleState

◆ FloatState

◆ MeasurementPose

◆ MeasurementPoseAndSpeed

◆ MeasurementSpeed

Function Documentation

◆ downscale_isometry()

◆ message_to_measurement() [1/7]

◆ message_to_measurement() [2/7]

◆ message_to_measurement() [3/7]

◆ message_to_measurement() [4/7]

◆ message_to_measurement() [5/7]

◆ message_to_measurement() [6/7]

◆ message_to_measurement() [7/7]