This file defines the constant velocity motion model. More...

#include <common/types.hpp>
#include "motion_model/visibility_control.hpp"
#include "motion_model/motion_model.hpp"

Include dependency graph for catr_core.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	autoware::motion::motion_model::CatrInvariantWorkspace
	This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time invariant. More...

struct	autoware::motion::motion_model::CatrVariantWorkspace
	This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time varying. More...

struct	autoware::motion::motion_model::CatrState
	This is an enum-like struct for convenience. More...

Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.

	autoware::motion
	This namespace is for motion planning, motion models, and related functionality.

	autoware::motion::motion_model
	This namespace is for the motion_model package.

Functions
template<int32_t NumStates>
MOTION_MODEL_LOCAL void	autoware::motion::motion_model::catr_workspace_init_invariant (const Eigen::Matrix< float32_t, NumStates, 1U > &x, CatrInvariantWorkspace &ws)
	Initalize invariant values in catr workspace. More...

template<int32_t NumStates>
MOTION_MODEL_LOCAL void	autoware::motion::motion_model::catr_workspace_init_variant (const Eigen::Matrix< float32_t, NumStates, 1U > &x, const float32_t dt_s, const CatrInvariantWorkspace &iws, CatrVariantWorkspace &ws)
	Initialize dt varying values for CATR model. More...

template<int32_t NumStates>
MOTION_MODEL_LOCAL void	autoware::motion::motion_model::catr_compute_jacobian (const CatrInvariantWorkspace &iws, const CatrVariantWorkspace &vws, Eigen::Matrix< float32_t, NumStates, NumStates > &F)
	Compute jacobian for CATR model, assumes ws is fully initialized. More...

template<int32_t NumStates>
MOTION_MODEL_LOCAL void	autoware::motion::motion_model::catr_predict (const Eigen::Matrix< float32_t, NumStates, 1U > &ref, const CatrInvariantWorkspace &iws, const CatrVariantWorkspace &vws, Eigen::Matrix< float32_t, NumStates, 1U > &x)
	Propagate CATR model forward in time. More...

Detailed Description

This file defines the constant velocity motion model.

Classes