autoware::motion::motion_model::CatrVariantWorkspace Struct Reference
This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time varying. More...
#include <catr_core.hpp>
Collaboration diagram for autoware::motion::motion_model::CatrVariantWorkspace:
Public Attributes | |
| float32_t | dt |
| time step More... | |
| float32_t | vp |
| next velocity after time step More... | |
| float32_t | wT |
| product of heading rate and time step, not calculated if w is 0 More... | |
| float32_t | thp |
| next heading after time step More... | |
| float32_t | sp |
| sine of next heading, not calculated if w is 0 More... | |
| float32_t | cp |
| cosine of next heading, not calculated if w is 0 More... | |
| float32_t | awT |
| product of acceleration, heading rate, and time step. If w is 0, path length More... | |
Detailed Description
This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time varying.
Member Data Documentation
◆ awT
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::awT |
product of acceleration, heading rate, and time step. If w is 0, path length
◆ cp
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::cp |
cosine of next heading, not calculated if w is 0
◆ dt
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::dt |
time step
◆ sp
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::sp |
sine of next heading, not calculated if w is 0
◆ thp
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::thp |
next heading after time step
◆ vp
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::vp |
next velocity after time step
◆ wT
| float32_t autoware::motion::motion_model::CatrVariantWorkspace::wT |
product of heading rate and time step, not calculated if w is 0
The documentation for this struct was generated from the following file: