forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 31
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(trajectory_follower): refactor (#238)
* refactor(trajectory_follower_nodes): refactor the controller framework (autowarefoundation#2432) * refactor(trajectory_follower_nodes): refactor the controller framework Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * add test for keeping stopped state when steer is not converged Signed-off-by: Takayuki Murooka <[email protected]> * fix the bug that initialization of mpc does not finish Signed-off-by: Takayuki Murooka <[email protected]> * apply the change to pure_pursuit Signed-off-by: Takayuki Murooka <[email protected]> * remove initialize function and implement reset function Signed-off-by: Takayuki Murooka <[email protected]> * minor change Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]> * feat(trajectory_follower): seperate lat lon controller packages (autowarefoundation#2580) * feat(trajectory_follower): seperate controller implementation packages Signed-off-by: Takayuki Murooka <[email protected]> * update doc Signed-off-by: Takayuki Murooka <[email protected]> * fix doc Signed-off-by: Takayuki Murooka <[email protected]> * fix test Signed-off-by: Takayuki Murooka <[email protected]> * rename: mpc_follower -> mpc Signed-off-by: Takayuki Murooka <[email protected]> * rename to trajectory_follower_base, trajectory_follower_node Signed-off-by: Takayuki Murooka <[email protected]> * fix doc Signed-off-by: Takayuki Murooka <[email protected]> * remove unnecessary change Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
- Loading branch information
1 parent
669c493
commit 9d736c4
Showing
92 changed files
with
1,773 additions
and
940 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,37 @@ | ||
cmake_minimum_required(VERSION 3.14) | ||
project(mpc_lateral_controller) | ||
|
||
find_package(autoware_cmake REQUIRED) | ||
autoware_package() | ||
|
||
set(MPC_LAT_CON_LIB ${PROJECT_NAME}_lib) | ||
ament_auto_add_library(${MPC_LAT_CON_LIB} SHARED | ||
src/mpc_lateral_controller.cpp | ||
src/interpolate.cpp | ||
src/lowpass_filter.cpp | ||
src/mpc.cpp | ||
src/mpc_trajectory.cpp | ||
src/mpc_utils.cpp | ||
src/qp_solver/qp_solver_osqp.cpp | ||
src/qp_solver/qp_solver_unconstr_fast.cpp | ||
src/vehicle_model/vehicle_model_bicycle_dynamics.cpp | ||
src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp | ||
src/vehicle_model/vehicle_model_bicycle_kinematics.cpp | ||
src/vehicle_model/vehicle_model_interface.cpp | ||
) | ||
|
||
if(BUILD_TESTING) | ||
set(TEST_LAT_SOURCES | ||
test/test_mpc.cpp | ||
test/test_mpc_utils.cpp | ||
test/test_interpolate.cpp | ||
test/test_lowpass_filter.cpp | ||
) | ||
set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) | ||
ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) | ||
target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${MPC_LAT_CON_LIB}) | ||
endif() | ||
|
||
ament_auto_package(INSTALL_TO_SHARE | ||
param | ||
) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.