Given a trajectory and the current state, compute the control command. More...

#include <pure_pursuit.hpp>

Inheritance diagram for autoware::motion::control::pure_pursuit::PurePursuit:

Collaboration diagram for autoware::motion::control::pure_pursuit::PurePursuit:

Public Member Functions
	PurePursuit (const Config &cfg)
	Default constructor. More...

Public Member Functions inherited from motion::control::controller_common::ControllerBase
	ControllerBase (const BehaviorConfig &config)
	Constructors. More...

	ControllerBase (const ControllerBase &)=default

	ControllerBase (ControllerBase &&)=default

ControllerBase &	operator= (const ControllerBase &)=default

ControllerBase &	operator= (ControllerBase &&)=default

virtual	~ControllerBase () noexcept=default

void	set_trajectory (const Trajectory &trajectory)

const Trajectory &	get_reference_trajectory () const noexcept
	Getter for reference trajectory. More...

Command	compute_command (const State &state)

Command	compute_stop_command (const State &state) const noexcept
	Computes stopping control command. More...

Index	get_current_state_spatial_index () const

Index	get_current_state_temporal_index () const

virtual std::string	name () const
	Get name of algorithm, for debugging or diagnostic purposes. More...

virtual Index	get_compute_iterations () const
	Get name of algorithm, for debugging or diagnostic purposes. More...

const BehaviorConfig &	get_base_config () const noexcept

Protected Member Functions
VehicleControlCommand	compute_command_impl (const TrajectoryPointStamped &state) override
	Compute the vehicle command based on the current pose and the given trajectory. If the trajectory's size is 0 or the current pose passed through the trajectory, the emergency stop acceleration will be computed. More...

Protected Member Functions inherited from motion::control::controller_common::ControllerBase
virtual bool	check_new_trajectory (const Trajectory &trajectory) const

virtual const Trajectory &	handle_new_trajectory (const Trajectory &trajectory)

virtual Command	compute_command_impl (const State &state)=0
	Actually compute the control command. More...

Point	predict (const Point &point, std::chrono::nanoseconds dt) noexcept
	Get a predicted state based on given state. More...

void	set_base_config (const BehaviorConfig &config) noexcept
	Config getters and setters. More...

Detailed Description

Given a trajectory and the current state, compute the control command.

Constructor & Destructor Documentation

◆ PurePursuit()

autoware::motion::control::pure_pursuit::PurePursuit::PurePursuit ( const Config & cfg )

explicit

Default constructor.

Parameters

[in] cfg Pure pursuit configuration parameters

Member Function Documentation

◆ compute_command_impl()

VehicleControlCommand autoware::motion::control::pure_pursuit::PurePursuit::compute_command_impl ( const TrajectoryPointStamped & state )

overrideprotected

Compute the vehicle command based on the current pose and the given trajectory. If the trajectory's size is 0 or the current pose passed through the trajectory, the emergency stop acceleration will be computed.

Parameters

[in] state The current position and velocity information

Returns: the command for the vehicle control

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PurePursuit()

Member Function Documentation

◆ compute_command_impl()