traffic_simulator::follow_trajectory Namespace Reference

Classes
struct	ControllerError
struct	PredictedState
class	FollowWaypointController

Functions
auto	makeUpdatedStatus (const traffic_simulator_msgs::msg::EntityStatus &, traffic_simulator_msgs::msg::PolylineTrajectory &, const traffic_simulator_msgs::msg::BehaviorParameter &, double, double, std::optional< double > target_speed=std::nullopt) -> std::optional< EntityStatus >
template<typename F , typename T , typename... Ts>
auto	any (F f, T &&x, Ts &&... xs)

Function Documentation

any()

template<typename F , typename T , typename... Ts>

auto traffic_simulator::follow_trajectory::any	(	F	f,
		T &&	x,
		Ts &&...	xs
	)

makeUpdatedStatus()

auto traffic_simulator::follow_trajectory::makeUpdatedStatus	(	const traffic_simulator_msgs::msg::EntityStatus &	entity_status,
		traffic_simulator_msgs::msg::PolylineTrajectory &	polyline_trajectory,
		const traffic_simulator_msgs::msg::BehaviorParameter &	behavior_parameter,
		double	step_time,
		double	matching_distance,
		std::optional< double >	target_speed = std::nullopt
	)		-> std::optional<EntityStatus>

DIRTY HACK! Negative longitudinal distance (calculated along lanelet in opposite direction) causes some scenarios to fail because of an unrelated issue with lanelet matching. The issue is caused by wrongly matched lanelet poses and thus wrong distances. When lanelet matching errors are fixed, this dirty hack can be removed.

Note

if entity is on lane use pitch from lanelet, otherwise use pitch on target

If the nearest waypoint is arrived at in this step without a specific arrival time, it will be considered as achieved

If the trajectory has only waypoints with unspecified time, the last one is followed using maximum speed including braking - in this case accuracy of arrival is checked

If it is an intermediate waypoint with an unspecified time, the accuracy of the arrival is irrelevant

Do not change orientation if there is no designed_velocity vector

if there is a designed_velocity vector, set the orientation in the direction of it

If it is the transition between lanelets: overwrite position to improve precision

Handle lanelet transition

DIRTY HACK! Negative longitudinal distance (calculated along lanelet in opposite direction) causes some scenarios to fail because of an unrelated issue with lanelet matching. The issue is caused by wrongly matched lanelet poses and thus wrong distances. When lanelet matching errors are fixed, this dirty hack can be removed.

Note

if entity is on lane use pitch from lanelet, otherwise use pitch on target

If the nearest waypoint is arrived at in this step without a specific arrival time, it will be considered as achieved

If the trajectory has only waypoints with unspecified time, the last one is followed using maximum speed including braking - in this case accuracy of arrival is checked

If it is an intermediate waypoint with an unspecified time, the accuracy of the arrival is irrelevant

Do not change orientation if there is no designed_velocity vector

if there is a designed_velocity vector, set the orientation in the direction of it

If it is the transition between lanelets: overwrite position to improve precision

Handle lanelet transition