clothoid_fit.hpp File Reference

#include <math.h>
#include <Eigen/Geometry>
#include <map>
#include <memory>
#include <string>
#include <vector>
#include <cloe/component.hpp>
#include <cloe/component/frustum.hpp>
#include <cloe/component/lane_boundary.hpp>
#include <cloe/component/lane_sensor.hpp>
#include <cloe/conf/action.hpp>
#include <cloe/handler.hpp>
#include <cloe/registrar.hpp>
#include <cloe/sync.hpp>
#include <cloe/trigger/set_action.hpp>
#include "g1_fitting.hpp"

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Classes
struct	cloe::ClothoidFitConf
class	cloe::component::LaneBoundaryClothoidFit

Functions
double	cloe::component::estimate_lane_boundary_length (const std::vector< Eigen::Vector3d > &points)
void	cloe::component::cleanup_lane_boundary_points (std::vector< Eigen::Vector3d > &points)
uint8_t	cloe::component::get_plane_mask (const Frustum &frustum, const Eigen::Vector3d &pt)
std::vector< Eigen::Vector3d >	cloe::component::interpolate_to_frustum_planes (const Frustum &frustum, const Eigen::Vector3d &pt1, uint8_t mask1, const Eigen::Vector3d &pt2, uint8_t mask2)
void	cloe::component::lane_boundary_point_culling (const Frustum &frustum, std::vector< Eigen::Vector3d > &points, std::vector< Eigen::Vector3d > &pts_out_start, std::vector< Eigen::Vector3d > &pts_out_end)
double	cloe::component::calc_heading_angle (const Eigen::Vector3d &pt0, const Eigen::Vector3d &pt1)
double	cloe::component::calc_heading_angle_adv (const Eigen::Vector3d &ptm1, const Eigen::Vector3d &pt0, const Eigen::Vector3d &pt1)
bool	cloe::component::fit_clothoid (const cloe::Logger &logger, bool frustum_culling, const Frustum &frustum, LaneBoundary &lb)

Variables
const uint8_t	cloe::component::PLANE_RIGHT_OK {0b0000'0001}
const uint8_t	cloe::component::PLANE_LEFT_OK {0b0000'0010}
const uint8_t	cloe::component::PLANE_LOW_OK {0b0000'0100}
const uint8_t	cloe::component::PLANE_HIGH_OK {0b0000'1000}
const uint8_t	cloe::component::PLANE_NEAR_OK {0b0001'0000}
const uint8_t	cloe::component::PLANE_FAR_OK {0b0010'0000}
const uint8_t	cloe::component::all_set

Function Documentation

calc_heading_angle()

double cloe::component::calc_heading_angle	(	const Eigen::Vector3d &	pt0,
		const Eigen::Vector3d &	pt1
	)

Compute heading angle [rad] from two points (line direction from pt0 to pt1).

Parameters

pt0	First line point.
pt1	Second line point.

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estimate_lane_boundary_length()

double cloe::component::estimate_lane_boundary_length

(

const std::vector< Eigen::Vector3d > &

points

)

Estimate lane boundary length by given polyline length.

Parameters

points

Lane boundary polyline points.

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fit_clothoid()

bool cloe::component::fit_clothoid	(	const cloe::Logger &	logger,
		bool	frustum_culling,
		const Frustum &	frustum,
		LaneBoundary &	lb
	)

Fit one clothoid segment to the given polyline using a point and heading angle at the beginning and end of the polyline segment of interest, respectively.

Parameters

lb	Lane boundary with polyline data.

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Variable Documentation

all_set

const uint8_t cloe::component::all_set

Initial value:

=
    PLANE_RIGHT_OK | PLANE_LEFT_OK | PLANE_LOW_OK | PLANE_HIGH_OK | PLANE_NEAR_OK | PLANE_FAR_OK