Functionality relating to prediction, including state estimation, kinematic prediction, maneuver-based prediction, map-aware prediction etc... More...

Namespaces
	detail

	kalman_filter
	Contains the kalman filter package and related classes and functionality.

	state

	state_estimation_nodes

	variable

Classes
struct	AngleVariable
	A tag struct used to disambiguate variables that store angles from other types. More...

class	DifferentialDriveMotionModel
	A generic differential motion model. This class only exists to be specialized for specific motion model implementations. More...

class	FilterInterface
	Interface for a filter that can be used to track an object. More...

class	GenericState
	A representation of a generic state vectors with specified variables. More...

class	History
	This class encapsulates a history of events used with EKF. More...

struct	is_angle
	A trait to check if a variable represents an angle. More...

struct	is_state
	Forward-declare is_state trait. More...

struct	is_state< GenericState< ScalarT, VariableTs... > >
	A specialization of this trait for GenericState type. More...

struct	is_variable
	A trait to check if a type is a variable by checking if it inherits from Variable. More...

class	KalmanFilter
	A Kalman filter implementation. More...

class	KalmanFilterWrapper
	This class provides a high level interface to the Kalman Filter allowing to predict the state of the filter with time and observe it by receiving ROS messages. More...

class	LinearMeasurement
	A class that represents a linear measurement. More...

class	LinearMotionModel
	A generic linear motion model class. More...

class	Measurement

struct	MeasurementInterface
	A CRTP interface to any measurement. More...

class	MotionModelInterface
	A CRTP interface for any motion model. More...

class	NoiseInterface
	A CRTP interface for implementing noise models used for providing motion model noise covariance. More...

struct	PredictionEvent
	An event to indicate a prediction step. More...

struct	ResetEvent
	An event to reset the state of the filter. More...

class	SteadyTimeGrid
	This is a utility class that allows querying timestamps on a 1D grid. More...

struct	Variable
	A tag struct used to disambiguate variables from other types. More...

class	WienerNoise
	A class that describes the Wiener process noise. More...

Typedefs
template<typename ... Ts>
using	FloatState = GenericState< common::types::float32_t, Ts... >
	A typedef for the 32 bit floating point state. More...

template<typename ... Ts>
using	DoubleState = GenericState< common::types::float64_t, Ts... >
	A typedef for the 64 bit floating point state. More...

using	CvtrMotionModel = DifferentialDriveMotionModel< state::ConstantVelocityAndTurnRate >
	An alias of the differential drive motion model for the state::ConstantVelocityAndTurnRate state. More...

using	CatrMotionModel = DifferentialDriveMotionModel< state::ConstantAccelerationAndTurnRate >
	An alias of the differential drive motion model for the state::ConstantAccelerationAndTurnRate state. More...

using	ConstantAccelerationFilter = KalmanFilterWrapper< motion::motion_model::ConstantAcceleration, 6, 2 >

using	MeasurementPose = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y >

using	MeasurementPoseAndSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

using	MeasurementSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

Functions
template<typename MotionModelT , typename NoiseModelT >
auto	make_kalman_filter (const MotionModelT &motion_model, const NoiseModelT &noise_model, const typename MotionModelT::State &initial_state, const typename MotionModelT::State::Matrix &initial_covariance)
	A utility function that creates a Kalman filter. More...

template<typename MotionModelT , typename NoiseModelT >
auto	make_kalman_filter (const MotionModelT &motion_model, const NoiseModelT &noise_model, const typename MotionModelT::State &initial_state, const std::vector< typename MotionModelT::State::Scalar > &initial_variances)
	A utility function that creates a Kalman filter from a vector of variances. More...

template<typename MeasurementT , typename MessageT >
MeasurementT	message_to_measurement (const MessageT &, const Eigen::Isometry3f &)
	Interface for converting a message into a measurement. More...

template<typename MeasurementT , typename MessageT >
MeasurementT	message_to_measurement (const MessageT &, const Eigen::Isometry3f &, const Eigen::Isometry3f &)
	Interface for converting a message into a measurement that accepts an additional transformation. More...

template<std::int32_t kStateDimentionality, typename FloatT >
static constexpr Eigen::Transform< FloatT, kStateDimentionality, Eigen::TransformTraits::Isometry >	downscale_isometry (const Eigen::Transform< FloatT, 3, Eigen::TransformTraits::Isometry > &isometry)
	Downscale the isometry to a lower dimension if needed. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPoseAndSpeed	message_to_measurement (const nav_msgs::msg::Odometry &msg, const Eigen::Isometry3f &tf__world__frame_id, const Eigen::Isometry3f &tf__world__child_frame_id)
	Specialization of message_to_measurement for odometry message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementSpeed	message_to_measurement (const geometry_msgs::msg::TwistWithCovarianceStamped &msg, const Eigen::Isometry3f &tf__world__frame_id)
	Specialization of message_to_measurement for twist message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPose	message_to_measurement (const geometry_msgs::msg::PoseWithCovarianceStamped &msg, const Eigen::Isometry3f &tf__world__frame_id)
	Specialization of message_to_measurement for pose message. More...

Detailed Description

Functionality relating to prediction, including state estimation, kinematic prediction, maneuver-based prediction, map-aware prediction etc...

Typedef Documentation

◆ CatrMotionModel

using autoware::prediction::CatrMotionModel = typedef DifferentialDriveMotionModel<state::ConstantAccelerationAndTurnRate>

An alias of the differential drive motion model for the state::ConstantAccelerationAndTurnRate state.

◆ ConstantAccelerationFilter

using autoware::prediction::ConstantAccelerationFilter = typedef KalmanFilterWrapper<motion::motion_model::ConstantAcceleration, 6, 2>

◆ CvtrMotionModel

using autoware::prediction::CvtrMotionModel = typedef DifferentialDriveMotionModel<state::ConstantVelocityAndTurnRate>

An alias of the differential drive motion model for the state::ConstantVelocityAndTurnRate state.

◆ DoubleState

template<typename ... Ts>

using autoware::prediction::DoubleState = typedef GenericState<common::types::float64_t, Ts...>

A typedef for the 64 bit floating point state.

◆ FloatState

template<typename ... Ts>

using autoware::prediction::FloatState = typedef GenericState<common::types::float32_t, Ts...>

A typedef for the 32 bit floating point state.

◆ MeasurementPose

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y > autoware::prediction::MeasurementPose

◆ MeasurementPoseAndSpeed

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y > autoware::prediction::MeasurementPoseAndSpeed

◆ MeasurementSpeed

typedef Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y > autoware::prediction::MeasurementSpeed

Function Documentation

◆ downscale_isometry()

template<std::int32_t kStateDimentionality, typename FloatT >

static constexpr Eigen::Transform< FloatT, kStateDimentionality, Eigen::TransformTraits::Isometry> autoware::prediction::downscale_isometry ( const Eigen::Transform< FloatT, 3, Eigen::TransformTraits::Isometry > & isometry )

staticconstexpr

Downscale the isometry to a lower dimension if needed.

Parameters

[in] isometry The isometry transform

Template Parameters

kStateDimentionality	Dimensionality of the space.
FloatT	Type of scalar.

Returns: Downscaled isometry.

◆ make_kalman_filter() [1/2]

template<typename MotionModelT , typename NoiseModelT >

auto autoware::prediction::make_kalman_filter	(	const MotionModelT &	motion_model,
		const NoiseModelT &	noise_model,
		const typename MotionModelT::State &	initial_state,
		const std::vector< typename MotionModelT::State::Scalar > &	initial_variances
	)

A utility function that creates a Kalman filter from a vector of variances.

        Mostly this is needed to avoid passing the template parameters explicitly and let
        the compiler infer them from the objects passed into this function.

Parameters

[in]	motion_model	A motion model.
[in]	noise_model	A noise model.
[in]	initial_state	Initial state.
[in]	initial_variances	Initial variances as a vector.

Template Parameters

MotionModelT	Type of the motion model.
NoiseModelT	Type of the noise model.

Returns: Returns a valid KalmanFilter instance.

◆ make_kalman_filter() [2/2]

template<typename MotionModelT , typename NoiseModelT >

auto autoware::prediction::make_kalman_filter	(	const MotionModelT &	motion_model,
		const NoiseModelT &	noise_model,
		const typename MotionModelT::State &	initial_state,
		const typename MotionModelT::State::Matrix &	initial_covariance
	)

A utility function that creates a Kalman filter.

Mostly this is needed to avoid passing the template parameters explicitly and let the compiler infer them from the objects passed into this function.

Parameters

[in]	motion_model	A motion model.
[in]	noise_model	A noise model.
[in]	initial_state	The initial state
[in]	initial_covariance	The initial covariance

Template Parameters

MotionModelT	Type of the motion model.
NoiseModelT	Type of the noise model.

Returns: Returns a valid KalmanFilter instance.

◆ message_to_measurement() [1/5]

template<>

MeasurementPose autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::PoseWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf__world__frame_id
	)

Specialization of message_to_measurement for pose message.

Parameters

[in]	msg	The pose message.
[in]	tf__world__frame_id	A transform from message frame_id to world frame.

Returns: The measurement containing pose.

◆ message_to_measurement() [2/5]

template<>

MeasurementSpeed autoware::prediction::message_to_measurement	(	const geometry_msgs::msg::TwistWithCovarianceStamped &	msg,
		const Eigen::Isometry3f &	tf__world__frame_id
	)

Specialization of message_to_measurement for twist message.

Parameters

[in]	msg	The twist message.
[in]	tf__world__frame_id	A transform from message frame_id to world frame.

Returns: The measurement containing speed.

◆ message_to_measurement() [3/5]

template<typename MeasurementT , typename MessageT >

MeasurementT autoware::prediction::message_to_measurement	(	const MessageT &	,
		const Eigen::Isometry3f &
	)

Interface for converting a message into a measurement.

Template Parameters

MeasurementT	Type of measurement.
MessageT	Type of ROS 2 message.

Returns: The measurement created from a message.

◆ message_to_measurement() [4/5]

template<typename MeasurementT , typename MessageT >

MeasurementT autoware::prediction::message_to_measurement	(	const MessageT &	,
		const Eigen::Isometry3f &	,
		const Eigen::Isometry3f &
	)

Interface for converting a message into a measurement that accepts an additional transformation.

This function is needed to transform messages like Odometry, where different parts of the measurement must be transformed with different transformation matrices.

Template Parameters

MeasurementT	Type of measurement.
MessageT	Type of ROS 2 message.

Returns: The measurement created from a message.

◆ message_to_measurement() [5/5]

template<>

MeasurementPoseAndSpeed autoware::prediction::message_to_measurement	(	const nav_msgs::msg::Odometry &	msg,
		const Eigen::Isometry3f &	tf__world__frame_id,
		const Eigen::Isometry3f &	tf__world__child_frame_id
	)

Specialization of message_to_measurement for odometry message.

Parameters

[in]	msg	The odometry message.
[in]	tf__world__frame_id	A transform from message frame_id to world frame.
[in]	tf__world__child_frame_id	A transform from message frame_id to child_frame_id.

Returns: The measurement containing pose and speed.

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ CatrMotionModel

◆ ConstantAccelerationFilter

◆ CvtrMotionModel

◆ DoubleState

◆ FloatState

◆ MeasurementPose

◆ MeasurementPoseAndSpeed

◆ MeasurementSpeed

Function Documentation

◆ downscale_isometry()

◆ make_kalman_filter() [1/2]

◆ make_kalman_filter() [2/2]

◆ message_to_measurement() [1/5]

◆ message_to_measurement() [2/5]

◆ message_to_measurement() [3/5]

◆ message_to_measurement() [4/5]

◆ message_to_measurement() [5/5]