evaluator.eufs_adapter.EufsAdapter Class Reference

Adapter class for subscribing to EUFS topics. More...

Inheritance diagram for evaluator.eufs_adapter.EufsAdapter:

Collaboration diagram for evaluator.eufs_adapter.EufsAdapter:

Public Member Functions
	__init__ (self, rclpy.node.Node node)
	Initializes the EUFS Adapter.
	simulated_vehicle_state_callback (self, CarState msg)
	Callback function to mark the initial timestamp of the control execution.
	state_estimation_callback (self, VehicleState vehicle_state, ConeArray map)
	Callback function to process synchronized messages and compute state estimation metrics.
	perception_callback (self, ConeArray perception_output, ConeArrayWithCovariance ground_truth)
	Callback function to process synchronized messages and compute perception metrics.
	planning_callback (self, PathPointArray planning_output, PathPointArray path_ground_truth)
	Callback function to process synchronized messages and compute planning metrics.
	groundtruth_map_callback (self, ConeArrayWithCovariance track)
	Callback function to process groundtruth map messages.
	groundtruth_vehicle_state_callback (self, Odometry vehicle_state)
	Callback function to process groundtruth vehicle_state messages.

Public Attributes
	groundtruth_vehicle_state_
	groundtruth_map_
	simulated_vehicle_state_
	groundtruth_map_callback
	groundtruth_vehicle_state_callback
	simulated_vehicle_state_callback
	state_estimation_callback
	node
	perception_callback
	planning_callback

Protected Attributes
	_se_time_sync_
	_perception_time_sync_
	_planning_time_sync_

Detailed Description

Adapter class for subscribing to EUFS topics.

Definition at line 21 of file eufs_adapter.py.

Constructor & Destructor Documentation

__init__()

evaluator.eufs_adapter.EufsAdapter.__init__	(		self,
		rclpy.node.Node	node
	)

Initializes the EUFS Adapter.

Args: node (Node): ROS2 node instance.

Reimplemented from evaluator.adapter.Adapter.

Definition at line 26 of file eufs_adapter.py.

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Member Function Documentation

groundtruth_map_callback()

evaluator.eufs_adapter.EufsAdapter.groundtruth_map_callback	(		self,
		ConeArrayWithCovariance	track
	)

Callback function to process groundtruth map messages.

Args: track (ConeArrayWithCovariance): Groundtruth track data.

Definition at line 197 of file eufs_adapter.py.

groundtruth_vehicle_state_callback()

evaluator.eufs_adapter.EufsAdapter.groundtruth_vehicle_state_callback	(		self,
		Odometry	vehicle_state
	)

Callback function to process groundtruth vehicle_state messages.

Args: vehicle_state (Odometry): Groundtruth vehicle_state data.

Definition at line 209 of file eufs_adapter.py.

perception_callback()

evaluator.eufs_adapter.EufsAdapter.perception_callback	(		self,
		ConeArray	perception_output,
		ConeArrayWithCovariance	ground_truth
	)

Callback function to process synchronized messages and compute perception metrics.

Args: perception_output (ConeArray): Perception Output.

Definition at line 139 of file eufs_adapter.py.

planning_callback()

evaluator.eufs_adapter.EufsAdapter.planning_callback	(		self,
		PathPointArray	planning_output,
		PathPointArray	path_ground_truth
	)

Callback function to process synchronized messages and compute planning metrics.

Args: map_ground_truth (ConeArrayWithCovariance): Groundtruth map message. planning_output (PathPointArray): Planning output. path_ground_truth (PathPointArray): Groundtruth path message.

Definition at line 159 of file eufs_adapter.py.

simulated_vehicle_state_callback()

evaluator.eufs_adapter.EufsAdapter.simulated_vehicle_state_callback	(		self,
		CarState	msg
	)

Callback function to mark the initial timestamp of the control execution.

Args: msg (CarState): Car state coming from EUFS simulator

Definition at line 95 of file eufs_adapter.py.

state_estimation_callback()

evaluator.eufs_adapter.EufsAdapter.state_estimation_callback	(		self,
		VehicleState	vehicle_state,
		ConeArray	map
	)

Callback function to process synchronized messages and compute state estimation metrics.

Args: vehicle_state (VehicleState): Vehicle state estimation message. map (ConeArray): Cone array message.

Definition at line 104 of file eufs_adapter.py.

Member Data Documentation

_perception_time_sync_

evaluator.eufs_adapter.EufsAdapter._perception_time_sync_

protected

Definition at line 73 of file eufs_adapter.py.

_planning_time_sync_

evaluator.eufs_adapter.EufsAdapter._planning_time_sync_

protected

Definition at line 84 of file eufs_adapter.py.

_se_time_sync_

evaluator.eufs_adapter.EufsAdapter._se_time_sync_

protected

Definition at line 59 of file eufs_adapter.py.

groundtruth_map_

evaluator.eufs_adapter.EufsAdapter.groundtruth_map_

Definition at line 36 of file eufs_adapter.py.

groundtruth_map_callback

evaluator.eufs_adapter.EufsAdapter.groundtruth_map_callback

Definition at line 41 of file eufs_adapter.py.

groundtruth_vehicle_state_

evaluator.eufs_adapter.EufsAdapter.groundtruth_vehicle_state_

Definition at line 35 of file eufs_adapter.py.

groundtruth_vehicle_state_callback

evaluator.eufs_adapter.EufsAdapter.groundtruth_vehicle_state_callback

Definition at line 48 of file eufs_adapter.py.

node

evaluator.eufs_adapter.EufsAdapter.node

Definition at line 71 of file eufs_adapter.py.

perception_callback

evaluator.eufs_adapter.EufsAdapter.perception_callback

Definition at line 82 of file eufs_adapter.py.

planning_callback

evaluator.eufs_adapter.EufsAdapter.planning_callback

Definition at line 93 of file eufs_adapter.py.

simulated_vehicle_state_

evaluator.eufs_adapter.EufsAdapter.simulated_vehicle_state_

Definition at line 37 of file eufs_adapter.py.

simulated_vehicle_state_callback

evaluator.eufs_adapter.EufsAdapter.simulated_vehicle_state_callback

Definition at line 55 of file eufs_adapter.py.

state_estimation_callback

evaluator.eufs_adapter.EufsAdapter.state_estimation_callback

Definition at line 68 of file eufs_adapter.py.

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The documentation for this class was generated from the following file:

• src/evaluator/evaluator/eufs_adapter.py