This namespace is for the motion_model package. More...

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

class	CatrModel
	This is a constant acceleration, constant turn-rate motion model. This model produces clothoidal trajectories and corresponds to a zero order hold on vehicle controls (throttle and steer angle) More...

struct	CatrState
	This is an enum-like struct for convenience. More...

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

class	ConstantAcceleration
	This is a simple constant acceleration motion model. More...

class	ConstantVelocity
	This is a simple constant velocity motion model. More...

class	MotionModel
	Virtual interface for all motion models for use with prediction. More...

class	ParameterEstimator
	Simple "motion model" with no dynamics for parameter estimation. More...

Typedefs
using	index_t = Eigen::Index
	indexing matches what matrices use More...

Functions
template<int32_t NumStates>
MOTION_MODEL_LOCAL void	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	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	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	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...

template<int32_t NumStates>
void	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>
void	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>
void	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>
void	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...

template void	catr_workspace_init_invariant< 6U > (const Eigen::Matrix< float32_t, 6U, 1U > &, CatrInvariantWorkspace &)

template void	catr_workspace_init_variant< 6U > (const Eigen::Matrix< float32_t, 6U, 1U > &, const float32_t, const CatrInvariantWorkspace &, CatrVariantWorkspace &)

template void	catr_compute_jacobian< 6U > (const CatrInvariantWorkspace &, const CatrVariantWorkspace &, Eigen::Matrix< float32_t, 6U, 6U > &)

template void	catr_predict< 6U > (const Eigen::Matrix< float32_t, 6U, 1U > &, const CatrInvariantWorkspace &, const CatrVariantWorkspace &, Eigen::Matrix< float32_t, 6U, 1U > &)

template void	catr_workspace_init_invariant< 8U > (const Eigen::Matrix< float32_t, 8U, 1U > &, CatrInvariantWorkspace &)

template void	catr_workspace_init_variant< 8U > (const Eigen::Matrix< float32_t, 8U, 1U > &, const float32_t, const CatrInvariantWorkspace &, CatrVariantWorkspace &)

template void	catr_compute_jacobian< 8U > (const CatrInvariantWorkspace &, const CatrVariantWorkspace &, Eigen::Matrix< float32_t, 8U, 8U > &)

template void	catr_predict< 8U > (const Eigen::Matrix< float32_t, 8U, 1U > &, const CatrInvariantWorkspace &, const CatrVariantWorkspace &, Eigen::Matrix< float32_t, 8U, 1U > &)

Detailed Description

This namespace is for the motion_model package.

Typedef Documentation

◆ index_t

using autoware::motion::motion_model::index_t = typedef Eigen::Index

indexing matches what matrices use

Function Documentation

◆ catr_compute_jacobian() [1/2]

template<int32_t NumStates>

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.

Parameters

[in]	iws	precompute worker variables for a given state
[in]	vws	precompute worker variables for a given state and dt
[out]	F	gets filled with jacobian

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_compute_jacobian() [2/2]

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.

Parameters

[in]	iws	precompute worker variables for a given state
[in]	vws	precompute worker variables for a given state and dt
[out]	F	gets filled with jacobian

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_compute_jacobian< 6U >()

template void autoware::motion::motion_model::catr_compute_jacobian< 6U >	(	const CatrInvariantWorkspace &	,
		const CatrVariantWorkspace &	,
		Eigen::Matrix< float32_t, 6U, 6U > &
	)

◆ catr_compute_jacobian< 8U >()

template void autoware::motion::motion_model::catr_compute_jacobian< 8U >	(	const CatrInvariantWorkspace &	,
		const CatrVariantWorkspace &	,
		Eigen::Matrix< float32_t, 8U, 8U > &
	)

◆ catr_predict() [1/2]

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.

Parameters

[in]	ref	reference state to propagate forward
[in]	iws	precomputed worker variables for ref
[in]	vws	precomputed worker variables for ref and a given dt
[out]	x	gets filled with reference state propagated forward

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_predict() [2/2]

template<int32_t NumStates>

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.

Parameters

[in]	ref	reference state to propagate forward
[in]	iws	precomputed worker variables for ref
[in]	vws	precomputed worker variables for ref and a given dt
[out]	x	gets filled with reference state propagated forward

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_predict< 6U >()

template void autoware::motion::motion_model::catr_predict< 6U >	(	const Eigen::Matrix< float32_t, 6U, 1U > &	,
		const CatrInvariantWorkspace &	,
		const CatrVariantWorkspace &	,
		Eigen::Matrix< float32_t, 6U, 1U > &
	)

◆ catr_predict< 8U >()

template void autoware::motion::motion_model::catr_predict< 8U >	(	const Eigen::Matrix< float32_t, 8U, 1U > &	,
		const CatrInvariantWorkspace &	,
		const CatrVariantWorkspace &	,
		Eigen::Matrix< float32_t, 8U, 1U > &
	)

◆ catr_workspace_init_invariant() [1/2]

template<int32_t NumStates>

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.

Parameters

[in]	x	state vector to initialize invariants with
[out]	ws	gets filled with invariants

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_workspace_init_invariant() [2/2]

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.

Parameters

[in]	x	state vector to initialize invariants with
[out]	ws	gets filled with invariants

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_workspace_init_invariant< 6U >()

template void autoware::motion::motion_model::catr_workspace_init_invariant< 6U >	(	const Eigen::Matrix< float32_t, 6U, 1U > &	,
		CatrInvariantWorkspace &
	)

◆ catr_workspace_init_invariant< 8U >()

template void autoware::motion::motion_model::catr_workspace_init_invariant< 8U >	(	const Eigen::Matrix< float32_t, 8U, 1U > &	,
		CatrInvariantWorkspace &
	)

◆ catr_workspace_init_variant() [1/2]

template<int32_t NumStates>

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.

Parameters

[in]	x	state vector to use as refrence
[in]	dt_s	lookahead time to use for computation
[in]	iws	workspace variable filled with invariants, assumed to have been initialized with the same x in catr_workspace_init_invariant()
[in,out]	ws	get filled with varying stuff

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_workspace_init_variant() [2/2]

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.

Parameters

[in]	x	state vector to use as refrence
[in]	dt_s	lookahead time to use for computation
[in]	iws	workspace variable filled with invariants, assumed to have been initialized with the same x in catr_workspace_init_invariant()
[in,out]	ws	get filled with varying stuff

Template Parameters

NumStates dimensionality of model, CATR model is assumed to take the first 6 slots

◆ catr_workspace_init_variant< 6U >()

template void autoware::motion::motion_model::catr_workspace_init_variant< 6U >	(	const Eigen::Matrix< float32_t, 6U, 1U > &	,
		const	float32_t,
		const CatrInvariantWorkspace &	,
		CatrVariantWorkspace &
	)

◆ catr_workspace_init_variant< 8U >()

template void autoware::motion::motion_model::catr_workspace_init_variant< 8U >	(	const Eigen::Matrix< float32_t, 8U, 1U > &	,
		const	float32_t,
		const CatrInvariantWorkspace &	,
		CatrVariantWorkspace &
	)

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ index_t

Function Documentation

◆ catr_compute_jacobian() [1/2]

◆ catr_compute_jacobian() [2/2]

◆ catr_compute_jacobian< 6U >()

◆ catr_compute_jacobian< 8U >()

◆ catr_predict() [1/2]

◆ catr_predict() [2/2]

◆ catr_predict< 6U >()

◆ catr_predict< 8U >()

◆ catr_workspace_init_invariant() [1/2]

◆ catr_workspace_init_invariant() [2/2]

◆ catr_workspace_init_invariant< 6U >()

◆ catr_workspace_init_invariant< 8U >()

◆ catr_workspace_init_variant() [1/2]

◆ catr_workspace_init_variant() [2/2]

◆ catr_workspace_init_variant< 6U >()

◆ catr_workspace_init_variant< 8U >()