Typedefs
using	Generator = std::mt19937

using	State = autoware_auto_msgs::msg::VehicleKinematicState

using	Point = autoware_auto_msgs::msg::TrajectoryPoint

using	Trajectory = autoware_auto_msgs::msg::Trajectory

using	Index = decltype(Trajectory::points)::size_type

using	Real = decltype(Point::x)

Functions
MOTION_TESTING_PUBLIC State	make_state (float x0, float y0, float heading, float v0, float a0, float turn_rate, std::chrono::system_clock::time_point t)
	Makes a state, intended to make message generation more terse. More...

MOTION_TESTING_PUBLIC State	generate_state (Generator &gen)
	Generates a state from a normal distribution with the following bounds: TODO(c.ho) More...

MOTION_TESTING_PUBLIC Trajectory	generate_trajectory (const State &start_state, Generator &gen)
	Generates a trajectory assuming the starting state, a bicycle model, and additive noise applied to XXX Note: not implemented. More...

MOTION_TESTING_PUBLIC Trajectory	constant_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generate a trajectory given the start state, assuming the highest derivatives are held constant. Note: heading_rate behavior will be kind of off TODO(c.ho) Note: lateral_velocity_mps will not be respected TODO(cho) More...

MOTION_TESTING_PUBLIC Trajectory	bad_heading_trajectory (const State &start_state, std::chrono::nanoseconds dt)
	Generates a constant velocity trajectory. More...

MOTION_TESTING_PUBLIC Trajectory	constant_velocity_trajectory (float x0, float y0, float heading, float v0, std::chrono::nanoseconds dt)
	Generates a constant velocity trajectory with invalid heading values. More...

MOTION_TESTING_PUBLIC Trajectory	constant_acceleration_trajectory (float x0, float y0, float heading, float v0, float a0, std::chrono::nanoseconds dt)
	Generates a constant acceleration trajectory. More...

MOTION_TESTING_PUBLIC Trajectory	constant_velocity_turn_rate_trajectory (float x0, float y0, float heading, float v0, float turn_rate, std::chrono::nanoseconds dt)
	Generates a constant velocity and constant turn rate trajectory. More...

MOTION_TESTING_PUBLIC Trajectory	constant_acceleration_turn_rate_trajectory (float x0, float y0, float heading, float v0, float a0, float turn_rate, std::chrono::nanoseconds dt)
	Generates a constant acceleration and constant turn rate trajectory. More...

MOTION_TESTING_PUBLIC void	next_state (const Trajectory &trajectory, State &state, uint32_t hint, Generator *gen=nullptr)

MOTION_TESTING_PUBLIC Index	progresses_towards_target (const Trajectory &trajectory, const Point &target, Real heading_tolerance=Real{0.006F})

MOTION_TESTING_PUBLIC Index	dynamically_feasible (const Trajectory &trajectory, Real tolerance=0.05F)

Typedef Documentation

◆ Generator

using motion::motion_testing::Generator = typedef std::mt19937

◆ Index

using motion::motion_testing::Index = typedef decltype(Trajectory::points)::size_type

◆ Point

using motion::motion_testing::Point = typedef autoware_auto_msgs::msg::TrajectoryPoint

◆ Real

using motion::motion_testing::Real = typedef decltype(Point::x)

◆ State

using motion::motion_testing::State = typedef autoware_auto_msgs::msg::VehicleKinematicState

◆ Trajectory

using motion::motion_testing::Trajectory = typedef autoware_auto_msgs::msg::Trajectory

Function Documentation

◆ bad_heading_trajectory()

Trajectory motion::motion_testing::bad_heading_trajectory	(	const State &	start_state,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity trajectory.

◆ constant_acceleration_trajectory()

Trajectory motion::motion_testing::constant_acceleration_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	a0,
		std::chrono::nanoseconds	dt
	)

Generates a constant acceleration trajectory.

◆ constant_acceleration_turn_rate_trajectory()

Trajectory motion::motion_testing::constant_acceleration_turn_rate_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	a0,
		float	turn_rate,
		std::chrono::nanoseconds	dt
	)

Generates a constant acceleration and constant turn rate trajectory.

◆ constant_trajectory()

Trajectory motion::motion_testing::constant_trajectory	(	const State &	start_state,
		std::chrono::nanoseconds	dt
	)

Generate a trajectory given the start state, assuming the highest derivatives are held constant. Note: heading_rate behavior will be kind of off TODO(c.ho) Note: lateral_velocity_mps will not be respected TODO(cho)

◆ constant_velocity_trajectory()

Trajectory motion::motion_testing::constant_velocity_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity trajectory with invalid heading values.

◆ constant_velocity_turn_rate_trajectory()

Trajectory motion::motion_testing::constant_velocity_turn_rate_trajectory	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	turn_rate,
		std::chrono::nanoseconds	dt
	)

Generates a constant velocity and constant turn rate trajectory.

◆ dynamically_feasible()

Index motion::motion_testing::dynamically_feasible	(	const Trajectory &	trajectory,
		Real	tolerance = `0.05F`
	)

Checks that a trajectory is more or less dynamically feasible given the derivatives; tolerance is relative tolerance of trajectory, index is first point that is not dynamically feasible, trajectory.size() if completely feasible

◆ generate_state()

State motion::motion_testing::generate_state ( Generator & gen )

Generates a state from a normal distribution with the following bounds: TODO(c.ho)

◆ generate_trajectory()

Trajectory motion::motion_testing::generate_trajectory	(	const State &	start_state,
		Generator &	gen
	)

Generates a trajectory assuming the starting state, a bicycle model, and additive noise applied to XXX Note: not implemented.

◆ make_state()

State motion::motion_testing::make_state	(	float	x0,
		float	y0,
		float	heading,
		float	v0,
		float	a0,
		float	turn_rate,
		std::chrono::system_clock::time_point	t
	)

Makes a state, intended to make message generation more terse.

◆ next_state()

void motion::motion_testing::next_state	(	const Trajectory &	trajectory,
		State &	state,
		uint32_t	hint,
		Generator *	gen = `nullptr`
	)

Given a trajectory, advance state to next trajectory point, with normally distributed noise Note: This version takes "hint" as gospel, and doesn't try to do any time/space matching Note: not implemented

◆ progresses_towards_target()

Index motion::motion_testing::progresses_towards_target	(	const Trajectory &	trajectory,
		const Point &	target,
		Real	heading_tolerance = `Real{0.006F}`
	)

Checks that a trajectory makes constant progress towards a target; returns first index of point that doesn't advance towards target, otherwise size of trajectory heading tolerance is in dot product space of 2d quaternion

Typedefs

Functions