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pre-commit-ci[bot] committed Dec 8, 2024
1 parent 9da0466 commit 2cdb1a3
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Showing 8 changed files with 16 additions and 15 deletions.
2 changes: 1 addition & 1 deletion control/control_performance_analysis/README.md
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Expand Up @@ -65,7 +65,7 @@ Error acceleration calculations are made based on the velocity calculations abov
| `longitudinal_error_acceleration` | float | [m / s^2] |
| `heading_error` | float | [rad] |
| `heading_error_velocity` | float | [rad / s] |
| `control_effort_energy` | float | [u * R * u^T] |
| `control_effort_energy` | float | [u *R* u^T] |
| `error_energy` | float | lateral_error^2 + heading_error^2 |
| `value_approximation` | float | V = xPx' ; Value function from DARE Lyap matrix P |
| `curvature_estimate` | float | [1 / m] |
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Expand Up @@ -276,7 +276,7 @@ bool CTRVMotionModel::predictStateStep(const double dt, KalmanFilter & ekf) cons
Eigen::MatrixXd X_next_t(DIM, 1); // predicted state
X_next_t(IDX::X) = X_t(IDX::X) + X_t(IDX::VEL) * cos_yaw * dt; // dx = v * cos(yaw)
X_next_t(IDX::Y) = X_t(IDX::Y) + X_t(IDX::VEL) * sin_yaw * dt; // dy = v * sin(yaw)
X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ)) * dt; // dyaw = omega
X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ))*dt; // dyaw = omega
X_next_t(IDX::VEL) = X_t(IDX::VEL);
X_next_t(IDX::WZ) = X_t(IDX::WZ);

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4 changes: 2 additions & 2 deletions planning/autoware_surround_obstacle_checker/src/node.cpp
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Expand Up @@ -411,8 +411,8 @@ std::optional<geometry_msgs::msg::TransformStamped> SurroundObstacleCheckerNode:

auto SurroundObstacleCheckerNode::isStopRequired(
const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
const std::optional<rclcpp::Time> & last_obstacle_found_time,
const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
-> std::pair<bool, std::optional<rclcpp::Time>>
{
if (!is_vehicle_stopped) {
return std::make_pair(false, std::nullopt);
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4 changes: 2 additions & 2 deletions planning/autoware_surround_obstacle_checker/src/node.hpp
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Expand Up @@ -89,8 +89,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node

auto isStopRequired(
const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
const std::optional<rclcpp::Time> & last_obstacle_found_time,
const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>;
const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
-> std::pair<bool, std::optional<rclcpp::Time>>;

// ros
mutable tf2_ros::Buffer tf_buffer_{get_clock()};
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Expand Up @@ -48,8 +48,8 @@ class SurroundObstacleCheckerNodeTest : public ::testing::Test

auto isStopRequired(
const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
const std::optional<rclcpp::Time> & last_obstacle_found_time,
const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
-> std::pair<bool, std::optional<rclcpp::Time>>
{
return node_->isStopRequired(
is_obstacle_found, is_vehicle_stopped, state, last_obstacle_found_time, time_threshold);
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Expand Up @@ -32,8 +32,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
}

auto findNearestCollisionPoint(
const LineString2d & line1, const LineString2d & line2,
const Point2d & origin) -> std::optional<Point2d>
const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
-> std::optional<Point2d>
{
std::vector<Point2d> collision_points;
bg::intersection(line1, line2, collision_points);
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Expand Up @@ -48,8 +48,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
* @return intersection point. if there is no intersection point, return std::nullopt.
*/
auto findNearestCollisionPoint(
const LineString2d & line1, const LineString2d & line2,
const Point2d & origin) -> std::optional<Point2d>;
const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
-> std::optional<Point2d>;

/**
* @brief find intersection point between path and stop line and return the point.
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7 changes: 4 additions & 3 deletions vehicle/autoware_accel_brake_map_calibrator/README.md
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Expand Up @@ -212,10 +212,11 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr
#### Parameters

Data selection is determined by the following thresholds.
| Name | Default Value |

| Name | Default Value |
| ----------------------- | ------------- |
| velocity_diff_threshold | 0.556 |
| pedal_diff_threshold | 0.03 |
| velocity_diff_threshold | 0.556 |
| pedal_diff_threshold | 0.03 |

#### Update formula

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