Classes
class	LimitsConfig
	Extreme values for state/control variables. More...

class	OptimizationConfig
	Specifies various parameters specific to the optimization problem and it's behaviors Depending on problem setup, some weights may be ignored. More...

class	StateWeight
	Specifies the weights used for particular state weights in the least-squares objective function of the mpc solver. More...

class	VehicleConfig
	Vehicle parameters specifying vehicle's handling performance. More...

Typedefs
using	Real = decltype(autoware_auto_msgs::msg::TrajectoryPoint::x)

using	Command = autoware_auto_msgs::msg::VehicleControlCommand

using	Diagnostic = autoware_auto_msgs::msg::ControlDiagnostic

using	State = autoware_auto_msgs::msg::VehicleKinematicState

using	Trajectory = autoware_auto_msgs::msg::Trajectory

using	Heading = decltype(decltype(State::state)::heading)

using	Index = decltype(Trajectory::points)::size_type

using	Point = decltype(Trajectory::points)::value_type

Functions
MOTION_COMMON_PUBLIC bool	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	is_past_point (const Point &state, const Point &current_pt, const Point &next_pt) noexcept

MOTION_COMMON_PUBLIC bool	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	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	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	heading_ok (const Trajectory &traj)
	Check that all heading values in a trajectory are normalized 2D quaternions. More...

MOTION_COMMON_PUBLIC void	doTransform (const Point &t_in, Point &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to TrajectoryPoint. More...

MOTION_COMMON_PUBLIC void	doTransform (const State &t_in, State &t_out, const geometry_msgs::msg::TransformStamped &transform) noexcept
	Apply transform to VehicleKinematicState. More...

MOTION_COMMON_PUBLIC Real	to_angle (Heading heading) noexcept
	Converts 2D quaternion to simple heading representation. More...

template<typename RealT >
Heading	from_angle (RealT angle) noexcept
	Basic conversion. More...

template<typename QuatT >
Heading	from_quat (QuatT quat) noexcept
	Converts a quaternion-like object to a simple heading representation. More...

template<typename QuatT >
QuatT	to_quat (Heading heading) noexcept
	Converts a simple heading representation into a quaternion-like object. More...

template<typename T >
T	clamp (T val, T min, T max)
	Standard clamp implementation. More...

template<typename T , typename RealT = double>
T	interpolate (T a, T b, RealT t)
	Standard linear interpolation. More...

MOTION_COMMON_PUBLIC Heading	nlerp (Heading a, Heading b, Real t)

template<typename SlerpF >
Point	interpolate (Point a, Point b, Real t, SlerpF slerp_fn)
	Trajectory point interpolation. More...

MOTION_COMMON_PUBLIC Point	interpolate (Point a, Point b, Real t)
	Default point interpolation, currently uses nlerp. More...

template<typename SlerpF >
void	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	sample (const Trajectory &in, Trajectory &out, std::chrono::nanoseconds period)
	Trajectory sampling with default interpolation (of nlerp) More...

MOTION_COMMON_PUBLIC void	error (const Point &state, const Point &ref, Diagnostic &out) noexcept
	Diagnostic header stuff. More...

Typedef Documentation

◆ Command

using motion::motion_common::Command = typedef autoware_auto_msgs::msg::VehicleControlCommand

◆ Diagnostic

using motion::motion_common::Diagnostic = typedef autoware_auto_msgs::msg::ControlDiagnostic

◆ Heading

using motion::motion_common::Heading = typedef decltype(decltype(State::state)::heading)

◆ Index

using motion::motion_common::Index = typedef decltype(Trajectory::points)::size_type

◆ Point

using motion::motion_common::Point = typedef decltype(Trajectory::points)::value_type

◆ Real

using motion::motion_common::Real = typedef decltype(autoware_auto_msgs::msg::TrajectoryPoint::x)

◆ State

using motion::motion_common::State = typedef autoware_auto_msgs::msg::VehicleKinematicState

◆ Trajectory

using motion::motion_common::Trajectory = typedef autoware_auto_msgs::msg::Trajectory

Function Documentation

◆ clamp()

template<typename T >

T motion::motion_common::clamp	(	T	val,
		T	min,
		T	max
	)

Standard clamp implementation.

◆ doTransform() [1/2]

void motion::motion_common::doTransform	(	const Point &	t_in,
		Point &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

noexcept

Apply transform to TrajectoryPoint.

◆ doTransform() [2/2]

void motion::motion_common::doTransform	(	const State &	t_in,
		State &	t_out,
		const geometry_msgs::msg::TransformStamped &	transform
	)

noexcept

Apply transform to VehicleKinematicState.

◆ error()

void motion::motion_common::error	(	const Point &	state,
		const Point &	ref,
		Diagnostic &	out
	)

noexcept

Diagnostic header stuff.

◆ from_angle()

template<typename RealT >

Heading motion::motion_common::from_angle ( RealT angle )

noexcept

Basic conversion.

◆ from_quat()

template<typename QuatT >

Heading motion::motion_common::from_quat ( QuatT quat )

noexcept

Converts a quaternion-like object to a simple heading representation.

Template Parameters

QuatT A quaternion-like object with at least z and w members

Parameters

[in] quat A quaternion-like object to be converted to a heading object

Returns: A converted heading object

◆ heading_ok()

bool motion::motion_common::heading_ok ( const Trajectory & traj )

Check that all heading values in a trajectory are normalized 2D quaternions.

◆ interpolate() [1/3]

template<typename T , typename RealT = double>

T motion::motion_common::interpolate	(	T	a,
		T	b,
		RealT	t
	)

Standard linear interpolation.

◆ interpolate() [2/3]

template<typename SlerpF >

Point motion::motion_common::interpolate	(	Point	a,
		Point	b,
		Real	t,
		SlerpF	slerp_fn
	)

Trajectory point interpolation.

◆ interpolate() [3/3]

Point motion::motion_common::interpolate	(	Point	a,
		Point	b,
		Real	t
	)

Default point interpolation, currently uses nlerp.

◆ is_aligned()

bool motion::motion_common::is_aligned	(	Heading	a,
		Heading	b,
		Real	dot_threshold
	)

Check if cosine angle is less than some dot product threshold.

◆ is_past_point() [1/3]

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.

◆ is_past_point() [2/3]

bool motion::motion_common::is_past_point	(	const Point &	state,
		const Point &	current_pt,
		const Point &	next_pt
	)

noexcept

Check if a state is past a given trajectory point given the last (aka current) trajectory point

◆ is_past_point() [3/3]

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.

◆ nlerp()

Heading motion::motion_common::nlerp	(	Heading	a,
		Heading	b,
		Real	t
	)

2D nlerp (linear approximation of slerp): http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/

◆ sample() [1/2]

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.

◆ sample() [2/2]

void motion::motion_common::sample	(	const Trajectory &	in,
		Trajectory &	out,
		std::chrono::nanoseconds	period
	)

Trajectory sampling with default interpolation (of nlerp)

◆ to_angle()

Real motion::motion_common::to_angle ( Heading heading )

noexcept

Converts 2D quaternion to simple heading representation.

◆ to_quat()

template<typename QuatT >

QuatT motion::motion_common::to_quat ( Heading heading )

noexcept

Converts a simple heading representation into a quaternion-like object.

Template Parameters

QuatT A quaternion-like object with at least z and w members

Parameters

[in] heading A heading object to be converted to a quaternion-like object

Returns: A converted quaternion-like object

◆ update_reference_index()

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.

Classes

Typedefs

Functions

Typedef Documentation

◆ Command

◆ Diagnostic

◆ Heading

◆ Index

◆ Point

◆ Real

◆ State

◆ Trajectory

Function Documentation

◆ clamp()

◆ doTransform() [1/2]

◆ doTransform() [2/2]

◆ error()

◆ from_angle()

◆ from_quat()

◆ heading_ok()

◆ interpolate() [1/3]

◆ interpolate() [2/3]

◆ interpolate() [3/3]

◆ is_aligned()

◆ is_past_point() [1/3]

◆ is_past_point() [2/3]

◆ is_past_point() [3/3]

◆ nlerp()

◆ sample() [1/2]

◆ sample() [2/2]

◆ to_angle()

◆ to_quat()

◆ update_reference_index()