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Motion Velocity Planner Common#

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview#

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design#

Key Components#

  1. Polygon Utilities (polygon_utils.hpp)
    This component provides functions for handling geometric polygons related to motion planning. It includes:

    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle's trajectory at different time steps.
    • Geometric calculations using Boost Geometry.

  2. General Utilities (utils.hpp)
    This component provides various utility functions, including:

    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.

  3. Velocity Planning Results (velocity_planning_result.hpp)
    This component defines data structures for storing the results of velocity planning, including:

    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage#

Including the Package#

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage#

Here's a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp