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feat(obstacle_cruies_planner): improve pid_based cruise planner (#2507)
* feat(obstacle_cruies_planner): improve pid_based cruise planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update param in tier4_planning_launch Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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..._planner/include/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_ | ||
| #define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp" | ||
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| #include <array> | ||
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| using tier4_debug_msgs::msg::Float32MultiArrayStamped; | ||
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| class CruisePlanningDebugInfo | ||
| { | ||
| public: | ||
| enum class TYPE { | ||
| // ego | ||
| EGO_VELOCITY = 0, // index: 0 | ||
| EGO_ACCELERATION, | ||
| EGO_JERK, // no data | ||
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| // cruise planning | ||
| CRUISE_CURRENT_OBSTACLE_DISTANCE_RAW, // index: 3 | ||
| CRUISE_CURRENT_OBSTACLE_DISTANCE_FILTERED, | ||
| CRUISE_CURRENT_OBSTACLE_VELOCITY_RAW, | ||
| CRUISE_CURRENT_OBSTACLE_VELOCITY_FILTERED, | ||
| CRUISE_TARGET_OBSTACLE_DISTANCE, | ||
| CRUISE_ERROR_DISTANCE_RAW, | ||
| CRUISE_ERROR_DISTANCE_FILTERED, | ||
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| CRUISE_RELATIVE_EGO_VELOCITY, // index: 10 | ||
| CRUISE_TIME_TO_COLLISION, | ||
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| CRUISE_TARGET_VELOCITY, // index: 12 | ||
| CRUISE_TARGET_ACCELERATION, | ||
| CRUISE_TARGET_JERK_RATIO, | ||
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| SIZE | ||
| }; | ||
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| /** | ||
| * @brief get the index corresponding to the given value TYPE | ||
| * @param [in] type the TYPE enum for which to get the index | ||
| * @return index of the type | ||
| */ | ||
| int getIndex(const TYPE type) const { return static_cast<int>(type); } | ||
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| /** | ||
| * @brief get all the debug values as an std::array | ||
| * @return array of all debug values | ||
| */ | ||
| std::array<double, static_cast<int>(TYPE::SIZE)> get() const { return info_; } | ||
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| /** | ||
| * @brief set the given type to the given value | ||
| * @param [in] type TYPE of the value | ||
| * @param [in] value value to set | ||
| */ | ||
| void set(const TYPE type, const double val) { info_.at(static_cast<int>(type)) = val; } | ||
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| /** | ||
| * @brief set the given type to the given value | ||
| * @param [in] type index of the type | ||
| * @param [in] value value to set | ||
| */ | ||
| void set(const int type, const double val) { info_.at(type) = val; } | ||
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| void reset() { info_.fill(0.0); } | ||
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| Float32MultiArrayStamped convertToMessage(const rclcpp::Time & current_time) const | ||
| { | ||
| Float32MultiArrayStamped msg{}; | ||
| msg.stamp = current_time; | ||
| for (const auto & v : get()) { | ||
| msg.data.push_back(v); | ||
| } | ||
| return msg; | ||
| } | ||
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| private: | ||
| std::array<double, static_cast<int>(TYPE::SIZE)> info_; | ||
| }; | ||
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| #endif // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_ |
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