autoware::common::helper_functions Namespace Reference

Namespaces
	comparisons
	message_field_adapters

Classes
class	ByteReader
	A utility class to read byte vectors in big-endian order. More...
class	crtp
struct	expression_valid
struct	expression_valid< ExpressionTemplate, T, types::void_t< ExpressionTemplate< T > > >
struct	expression_valid_with_return
struct	expression_valid_with_return< ExpressionTemplate, T, ReturnT, std::enable_if_t< std::is_same< ReturnT, ExpressionTemplate< T > >::value > >
class	LookupTable1D

Functions
template<typename T , std::int32_t kNumOfStates>
types::float32_t	calculate_squared_mahalanobis_distance (const Eigen::Matrix< T, kNumOfStates, 1 > &sample, const Eigen::Matrix< T, kNumOfStates, 1 > &mean, const Eigen::Matrix< T, kNumOfStates, kNumOfStates > &covariance_factor)
	Calculate square of mahalanobis distance. More...
template<typename T , std::int32_t kNumOfStates>
types::float32_t	calculate_mahalanobis_distance (const Eigen::Matrix< T, kNumOfStates, 1 > &sample, const Eigen::Matrix< T, kNumOfStates, 1 > &mean, const Eigen::Matrix< T, kNumOfStates, kNumOfStates > &covariance_factor)
	Calculate mahalanobis distance. More...
template<typename T >
T	lookup_1d (const std::vector< T > &domain, const std::vector< T > &range, const T value)

Function Documentation

calculate_mahalanobis_distance()

template<typename T , std::int32_t kNumOfStates>

types::float32_t autoware::common::helper_functions::calculate_mahalanobis_distance	(	const Eigen::Matrix< T, kNumOfStates, 1 > &	sample,
		const Eigen::Matrix< T, kNumOfStates, 1 > &	mean,
		const Eigen::Matrix< T, kNumOfStates, kNumOfStates > &	covariance_factor
	)

Calculate mahalanobis distance.

Template Parameters

T	Type of elements in the matrix
kNumOfStates	Number of states

Parameters

sample	Single column matrix containing sample whose distance needs to be computed
mean	Single column matrix containing mean of samples received so far
covariance_factor	Covariance matrix

Returns

Mahalanobis distance

calculate_squared_mahalanobis_distance()

template<typename T , std::int32_t kNumOfStates>

types::float32_t autoware::common::helper_functions::calculate_squared_mahalanobis_distance	(	const Eigen::Matrix< T, kNumOfStates, 1 > &	sample,
		const Eigen::Matrix< T, kNumOfStates, 1 > &	mean,
		const Eigen::Matrix< T, kNumOfStates, kNumOfStates > &	covariance_factor
	)

Calculate square of mahalanobis distance.

Template Parameters

T	Type of elements in the matrix
kNumOfStates	Number of states

Parameters

sample	Single column matrix containing sample whose distance needs to be computed
mean	Single column matrix containing mean of samples received so far
covariance_factor	Covariance matrix

Returns

Square of mahalanobis distance

lookup_1d()

template<typename T >

T autoware::common::helper_functions::lookup_1d	(	const std::vector< T > &	domain,
		const std::vector< T > &	range,
		const T	value
	)

Do a 1D table lookup: Does some semi-expensive O(N) error checking first. If query value fall out of the domain, then the value at the corresponding edge of the domain is returned.

Parameters

[in]	domain	The domain, or set of x values
[in]	range	The range, or set of y values
[in]	value	The point in the domain to query, x

Returns

A linearly interpolated value y, corresponding to the query, x

Exceptions

std::domain_error	If domain or range is empty
std::domain_error	If range is not the same size as domain
std::domain_error	If domain is not sorted
std::domain_error	If value is not finite (NAN or INF)

Template Parameters

T	The type of the function, must be interpolatable