utils.hpp File Reference

#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include "common_lib/structures/pose.hpp"
#include "common_lib/structures/position.hpp"
#include "control/include/config/parameters.hpp"
#include "custom_interfaces/msg/path_point_array.hpp"
#include "custom_interfaces/msg/pose.hpp"
#include "utils/utils.hpp"
#include "rclcpp/rclcpp.hpp"

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Functions
std::tuple< common_lib::structures::Position, int, double >	get_closest_point (const std::vector< custom_interfaces::msg::PathPoint > &pathpoint_array, const common_lib::structures::Position &position)
	Find the closest point on the path.
std::tuple< common_lib::structures::Position, double, bool >	get_lookahead_point (const std::vector< custom_interfaces::msg::PathPoint > &pathpoint_array, int closest_point_id, double lookahead_distance, common_lib::structures::Position rear_axis_position, double last_to_first_max_dist)
	Update Lookahead point.
common_lib::structures::Position	rear_axis_position (const common_lib::structures::Position &cg, double orientation, double dist_cg_2_rear_axis)
	Calculate rear axis coordinates.

Function Documentation

get_closest_point()

std::tuple< common_lib::structures::Position, int, double > get_closest_point	(	const std::vector< custom_interfaces::msg::PathPoint > &	pathpoint_array,
		const common_lib::structures::Position &	position
	)

Find the closest point on the path.

Parameters

path
rear_axis_point

Returns

std::pair<Point, int> closest point and index

Definition at line 14 of file utils.cpp.

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get_lookahead_point()

std::tuple< common_lib::structures::Position, double, bool > get_lookahead_point	(	const std::vector< custom_interfaces::msg::PathPoint > &	pathpoint_array,
		int	closest_point_id,
		double	lookahead_distance,
		common_lib::structures::Position	rear_axis_position,
		double	last_to_first_max_dist
	)

Update Lookahead point.

Parameters

path

Returns

std::tuple<common_lib::structures::Position, double, bool> lookahead point, velocity and error status (1 = error)

Definition at line 35 of file utils.cpp.

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rear_axis_position()

common_lib::structures::Position rear_axis_position	(	const common_lib::structures::Position &	cg,
		double	orientation,
		double	dist_cg_2_rear_axis
	)

Calculate rear axis coordinates.

Parameters

cg	center of gravity position
orientation	orientation of the vehicle in radians relative to the world frame (ccw)
dist_cg_2_rear_axis	distance between the center of gravity and the rear axis

Returns

Point

Definition at line 5 of file utils.cpp.

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