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

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

	state_estimation_nodes

Classes
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	Measurement

class	MeasurementBasedTimeKeeper
	This is a time storage class that keeps the time with respect to the clock that timestamped the last measurement. More...

class	Time
	This class describes a time point with respect to some time reference frame. More...

Typedefs
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 >

using	MeasurementBasedTime = Time< TimeReferenceFrame::kMeasurement >
	Utility typedef to define time based on a measurement clock. More...

using	GlobalTime = Time< TimeReferenceFrame::kGlobal >
	Utility typedef to define time based on some global clock. More...

Enumerations
enum	TimeReferenceFrame { TimeReferenceFrame::kGlobal, TimeReferenceFrame::kMeasurement }
	This class describes a time reference frame. This is used to define in which clock a particular time point lives. More...

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

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPoseAndSpeed	message_to_measurement (const nav_msgs::msg::Odometry &msg, const Eigen::Isometry3f &tf_world_message)
	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_message)
	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_message)
	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

◆ ConstantAccelerationFilter

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

◆ GlobalTime

using autoware::prediction::GlobalTime = typedef Time<TimeReferenceFrame::kGlobal>

Utility typedef to define time based on some global clock.

◆ MeasurementBasedTime

using autoware::prediction::MeasurementBasedTime = typedef Time<TimeReferenceFrame::kMeasurement>

Utility typedef to define time based on a measurement clock.

◆ MeasurementPose

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

◆ MeasurementPoseAndSpeed

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

◆ MeasurementSpeed

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

Enumeration Type Documentation

◆ TimeReferenceFrame

enum autoware::prediction::TimeReferenceFrame

strong

This class describes a time reference frame. This is used to define in which clock a particular time point lives.

Enumerator
kGlobal
kMeasurement

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 dimention if needed.

Parameters

[in] isometry The isometry transform

Template Parameters

kStateDimentionality	Dimentionality of the space.
FloatT	Type of scalar.

Returns: Downscaled isometry.

◆ message_to_measurement() [1/4]

template<>

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

Specialization of message_to_measurement for pose message.

Parameters

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

Returns: The measurement containing pose.

◆ message_to_measurement() [2/4]

template<>

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

Specialization of message_to_measurement for twist message.

Parameters

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

Returns: The measurement containing speed.

◆ message_to_measurement() [3/4]

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() [4/4]

template<>

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

Specialization of message_to_measurement for odometry message.

Parameters

[in]	msg	The odometry message.
[in]	tf_world_message	A transform from message frame to world frame.

Returns: The measurement containing pose and speed.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ ConstantAccelerationFilter

◆ GlobalTime

◆ MeasurementBasedTime

◆ MeasurementPose

◆ MeasurementPoseAndSpeed

◆ MeasurementSpeed

Enumeration Type Documentation

◆ TimeReferenceFrame

Function Documentation

◆ downscale_isometry()

◆ message_to_measurement() [1/4]

◆ message_to_measurement() [2/4]

◆ message_to_measurement() [3/4]

◆ message_to_measurement() [4/4]