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feat(tier4_autoware_utils): divide into two classies
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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52 changes: 52 additions & 0 deletions
52
common/tier4_autoware_utils/include/tier4_autoware_utils/vehicle/vehicle_stop_checker.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,52 @@ | ||
| // 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 TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STOP_CHECKER_HPP_ | ||
| #define TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STOP_CHECKER_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <geometry_msgs/msg/twist_stamped.hpp> | ||
| #include <nav_msgs/msg/odometry.hpp> | ||
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| #include <deque> | ||
| #include <memory> | ||
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| namespace tier4_autoware_utils | ||
| { | ||
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| class VehicleStopChecker | ||
| { | ||
| public: | ||
| explicit VehicleStopChecker(rclcpp::Node * node); | ||
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| bool isVehicleStopped(const double stop_duration) const; | ||
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| rclcpp::Logger getLogger() { return logger_; } | ||
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| private: | ||
| rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_; | ||
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| rclcpp::Clock::SharedPtr clock_; | ||
| rclcpp::Logger logger_; | ||
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| std::deque<geometry_msgs::msg::TwistStamped> twist_buffer_; | ||
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| static constexpr double velocity_buffer_time_sec = 10.0; | ||
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| void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); | ||
| }; | ||
| } // namespace tier4_autoware_utils | ||
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| #endif // TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STOP_CHECKER_HPP_ |
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82 changes: 82 additions & 0 deletions
82
common/tier4_autoware_utils/src/vehicle/vehicle_stop_checker.cpp
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| @@ -0,0 +1,82 @@ | ||
| // 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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| #include "tier4_autoware_utils/vehicle/vehicle_stop_checker.hpp" | ||
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| #include <string> | ||
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| namespace tier4_autoware_utils | ||
| { | ||
| VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node) | ||
| : clock_(node->get_clock()), logger_(node->get_logger()) | ||
| { | ||
| using std::placeholders::_1; | ||
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| sub_odom_ = node->create_subscription<nav_msgs::msg::Odometry>( | ||
| "/localization/kinematic_state", rclcpp::QoS(1), | ||
| std::bind(&VehicleStopChecker::onOdom, this, _1)); | ||
| } | ||
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| bool VehicleStopChecker::isVehicleStopped(const double stop_duration = 0.0) const | ||
| { | ||
| if (twist_buffer_.empty()) { | ||
| return false; | ||
| } | ||
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| // Get velocities within stop_duration | ||
| const auto now = clock_->now(); | ||
| std::vector<double> vs; | ||
| for (const auto & velocity : twist_buffer_) { | ||
| vs.push_back(velocity.twist.linear.x); | ||
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| const auto time_diff = now - velocity.header.stamp; | ||
| if (time_diff.seconds() >= stop_duration) { | ||
| break; | ||
| } | ||
| } | ||
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| // Check all velocities | ||
| constexpr double stop_velocity = 1e-3; | ||
| for (const auto & v : vs) { | ||
| if (v >= stop_velocity) { | ||
| return false; | ||
| } | ||
| } | ||
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| return true; | ||
| } | ||
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| void VehicleStopChecker::onOdom(const nav_msgs::msg::Odometry::SharedPtr msg) | ||
| { | ||
| auto current_velocity = std::make_shared<geometry_msgs::msg::TwistStamped>(); | ||
| current_velocity->header = msg->header; | ||
| current_velocity->twist = msg->twist.twist; | ||
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| twist_buffer_.push_front(*current_velocity); | ||
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| const auto now = clock_->now(); | ||
| while (true) { | ||
| // Check oldest data time | ||
| const auto time_diff = now - twist_buffer_.back().header.stamp; | ||
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| // Finish when oldest data is newer than threshold | ||
| if (time_diff.seconds() <= velocity_buffer_time_sec) { | ||
| break; | ||
| } | ||
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| // Remove old data | ||
| twist_buffer_.pop_back(); | ||
| } | ||
| } | ||
| } // namespace tier4_autoware_utils |