autoware::motion::motion_model::CatrInvariantWorkspace Struct Reference
This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time invariant. More...
#include <catr_core.hpp>
Collaboration diagram for autoware::motion::motion_model::CatrInvariantWorkspace:
Public Attributes | |
| bool8_t | is_w_nonzero |
| if heading rate is above some small number threshold More... | |
| float32_t | w |
| current state heading rate More... | |
| float32_t | a |
| current state acceleration More... | |
| float32_t | s |
| sine of current state's heading More... | |
| float32_t | c |
| cosine of current state's heading More... | |
| float32_t | vw |
| product of velocity times heading rate, not calculated if w is 0 More... | |
| float32_t | w_inv |
| inverse of heading rate, not calculated if w is 0 More... | |
| float32_t | w2_inv |
| inverse square of heading rate, not calculated if w is 0 More... | |
Detailed Description
This struct holds some common worker variables for CATR model's jacobian and prediction computation, specifically those that are time invariant.
Member Data Documentation
◆ a
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::a |
current state acceleration
◆ c
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::c |
cosine of current state's heading
◆ is_w_nonzero
| bool8_t autoware::motion::motion_model::CatrInvariantWorkspace::is_w_nonzero |
if heading rate is above some small number threshold
◆ s
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::s |
sine of current state's heading
◆ vw
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::vw |
product of velocity times heading rate, not calculated if w is 0
◆ w
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::w |
current state heading rate
◆ w2_inv
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::w2_inv |
inverse square of heading rate, not calculated if w is 0
◆ w_inv
| float32_t autoware::motion::motion_model::CatrInvariantWorkspace::w_inv |
inverse of heading rate, not calculated if w is 0
The documentation for this struct was generated from the following file: