Internal class containing the object state and other information. More...

#include <tracked_object.hpp>

Public Types
using	CA = autoware::prediction::state::ConstAccelerationXY

using	MotionModel = autoware::prediction::LinearMotionModel< CA >

using	NoiseModel = autoware::prediction::WienerNoise< CA >

using	EKF = autoware::prediction::KalmanFilter< MotionModel, NoiseModel >

using	TrackedObjectMsg = autoware_auto_msgs::msg::TrackedDynamicObject

using	DetectedObjectMsg = autoware_auto_msgs::msg::DetectedDynamicObject

Public Member Functions
	TrackedObject (const DetectedObjectMsg &detection, float default_variance, float noise_variance)

void	predict (std::chrono::nanoseconds dt)
	Extrapolate the track forward. More...

void	update (const DetectedObjectMsg &detection)
	Adjust the track to the detection. More...

void	no_update ()
	Call when no correspondence for this track was found. More...

const TrackedObjectMsg &	msg ()
	Getter for the message. More...

Detailed Description

Internal class containing the object state and other information.

Member Typedef Documentation

◆ CA

using autoware::perception::tracking::TrackedObject::CA = autoware::prediction::state::ConstAccelerationXY

◆ DetectedObjectMsg

using autoware::perception::tracking::TrackedObject::DetectedObjectMsg = autoware_auto_msgs::msg::DetectedDynamicObject

◆ EKF

using autoware::perception::tracking::TrackedObject::EKF = autoware::prediction::KalmanFilter<MotionModel, NoiseModel>

◆ MotionModel

using autoware::perception::tracking::TrackedObject::MotionModel = autoware::prediction::LinearMotionModel<CA>

◆ NoiseModel

using autoware::perception::tracking::TrackedObject::NoiseModel = autoware::prediction::WienerNoise<CA>

◆ TrackedObjectMsg

using autoware::perception::tracking::TrackedObject::TrackedObjectMsg = autoware_auto_msgs::msg::TrackedDynamicObject

Constructor & Destructor Documentation

◆ TrackedObject()

autoware::perception::tracking::TrackedObject::TrackedObject	(	const DetectedObjectMsg &	detection,
		float	default_variance,
		float	noise_variance
	)

Constructor

Parameters

detection	A detection from which to initialize this object. Must have a pose.
default_variance	All variables will initially have this variance
noise_variance	The sigma for the acceleration noise

Exceptions

std::runtime_error if the detection does not have a pose.

Member Function Documentation

◆ msg()

const TrackedObject::TrackedObjectMsg & autoware::perception::tracking::TrackedObject::msg ( )

Getter for the message.

◆ no_update()

void autoware::perception::tracking::TrackedObject::no_update ( )

Call when no correspondence for this track was found.

◆ predict()

void autoware::perception::tracking::TrackedObject::predict ( std::chrono::nanoseconds dt )

Extrapolate the track forward.

◆ update()

void autoware::perception::tracking::TrackedObject::update ( const DetectedObjectMsg & detection )

Adjust the track to the detection.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions