Classes
struct	DetailedTrajConfig

struct	GeneralTrajConfig

struct	PointSpeedPair

Functions
std::vector< double >	apply_speed_limits (const std::vector< double > speeds, const std::vector< double > speed_limits)
	Applies the provided speed limits to the provided speeds such that each element is capped at its corresponding speed limit if needed. More...

Eigen::Isometry2d	compute_heading_frame (const lanelet::BasicPoint2d &p1, const lanelet::BasicPoint2d &p2)
	Returns a 2D coordinate frame which is located at p1 and oriented so p2 lies on the +X axis. More...

std::vector< PointSpeedPair >	constrain_to_time_boundary (const std::vector< PointSpeedPair > &points, double time_span)
	Reduces the input points to only those points that fit within the provided time boundary. More...

std::pair< double, size_t >	min_with_exclusions (const std::vector< double > &values, const std::unordered_set< size_t > &excluded)
	Returns the min, and its idx, from the vector of values, excluding given set of values. More...

std::vector< double >	optimize_speed (const std::vector< double > &downtracks, const std::vector< double > &curv_speeds, double accel_limit)
	Applies the longitudinal acceleration limit to each point's speed. More...

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint >	trajectory_from_points_times_orientations (const std::vector< lanelet::BasicPoint2d > &points, const std::vector< double > &times, const std::vector< double > &yaws, rclcpp::Time startTime, const std::string &desired_controller_plugin)
	Method combines input points, times, orientations, and an absolute start time to form a valid carma platform trajectory. More...

std::vector< PointSpeedPair >	attach_past_points (const std::vector< PointSpeedPair > &points_set, std::vector< PointSpeedPair > future_points, const int nearest_pt_index, double back_distance)
	Attaches back_distance length of points behind the future points. More...

std::unique_ptr< basic_autonomy::smoothing::SplineI >	compute_fit (const std::vector< lanelet::BasicPoint2d > &basic_points)
	Computes a spline based on the provided points. More...

double	compute_curvature_at (const basic_autonomy::smoothing::SplineI &fit_curve, double step_along_the_curve)
	Given the curvature fit, computes the curvature at the given step along the curve. More...

std::vector< PointSpeedPair >	create_geometry_profile (const std::vector< carma_planning_msgs::msg::Maneuver > &maneuvers, double max_starting_downtrack, const carma_wm::WorldModelConstPtr &wm, carma_planning_msgs::msg::VehicleState &ending_state_before_buffer, const carma_planning_msgs::msg::VehicleState &state, const GeneralTrajConfig &general_config, const DetailedTrajConfig &detailed_config)
	Creates geometry profile to return a point speed pair struct for LANE FOLLOW and LANE CHANGE maneuver types. More...

std::vector< PointSpeedPair >	create_lanefollow_geometry (const carma_planning_msgs::msg::Maneuver &maneuver, double max_starting_downtrack, const carma_wm::WorldModelConstPtr &wm, const GeneralTrajConfig &general_config, const DetailedTrajConfig &detailed_config, std::unordered_set< lanelet::Id > &visited_lanelets)
	Converts a set of requested LANE_FOLLOWING maneuvers to point speed limit pairs. More...

std::vector< PointSpeedPair >	add_lanefollow_buffer (const carma_wm::WorldModelConstPtr &wm, std::vector< PointSpeedPair > &points_and_target_speeds, const std::vector< carma_planning_msgs::msg::Maneuver > &maneuvers, carma_planning_msgs::msg::VehicleState &ending_state_before_buffer, const DetailedTrajConfig &detailed_config)
	Adds extra centerline points beyond required message length to lane follow maneuver points so that there's always enough points to calculate trajectory (BUFFER POINTS SHOULD BE REMOVED BEFORE RETURNING FINAL TRAJECTORY) More...

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint >	compose_lanefollow_trajectory_from_path (const std::vector< PointSpeedPair > &points, const carma_planning_msgs::msg::VehicleState &state, const rclcpp::Time &state_time, const carma_wm::WorldModelConstPtr &wm, const carma_planning_msgs::msg::VehicleState &ending_state_before_buffer, carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds &debug_msg, const DetailedTrajConfig &detailed_config)
	Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning for a Lane following maneuver. More...

std::vector< PointSpeedPair >	get_lanechange_points_from_maneuver (const carma_planning_msgs::msg::Maneuver &maneuver, double max_starting_downtrack, const carma_wm::WorldModelConstPtr &wm, carma_planning_msgs::msg::VehicleState &ending_state_before_buffer, const carma_planning_msgs::msg::VehicleState &state, const GeneralTrajConfig &general_config, const DetailedTrajConfig &detailed_config)
	Converts a set of requested LANE_CHANGE maneuvers to point speed limit pairs. More...

std::vector< lanelet::BasicPoint2d >	create_lanechange_geometry (lanelet::Id starting_lane_id, lanelet::Id ending_lane_id, double starting_downtrack, double ending_downtrack, const carma_wm::WorldModelConstPtr &wm, int downsample_ratio, double buffer_ending_downtrack)
	Creates a vector of lane change points using parameters defined. More...

std::vector< std::vector< lanelet::BasicPoint2d > >	resample_linestring_pair_to_same_size (std::vector< lanelet::BasicPoint2d > &line_1, std::vector< lanelet::BasicPoint2d > &line_2)
	Resamples a pair of basicpoint2d lines to get lines of same number of points. More...

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint >	compose_lanechange_trajectory_from_path (const std::vector< PointSpeedPair > &points, const carma_planning_msgs::msg::VehicleState &state, const rclcpp::Time &state_time, const carma_wm::WorldModelConstPtr &wm, const carma_planning_msgs::msg::VehicleState &ending_state_before_buffer, const DetailedTrajConfig &detailed_config)
	Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning for a Lane following maneuver. More...

std::vector< lanelet::BasicPoint2d >	create_route_geom (double starting_downtrack, int starting_lane_id, double ending_downtrack, const carma_wm::WorldModelConstPtr &wm)
	Creates a Lanelet2 Linestring from a vector or points along the geometry. More...

lanelet::BasicLineString2d	create_lanechange_path (const lanelet::ConstLanelet &start_lanelet, const lanelet::ConstLanelet &end_lanelet)
	Given a start and end point, create a vector of points fit through a spline between the points (using a Spline library) More...

DetailedTrajConfig	compose_detailed_trajectory_config (double trajectory_time_length, double curve_resample_step_size, double minimum_speed, double max_accel, double lateral_accel_limit, int speed_moving_average_window_size, int curvature_moving_average_window_size, double back_distance, double buffer_ending_downtrack, std::string desired_controller_plugin="default")

GeneralTrajConfig	compose_general_trajectory_config (const std::string &trajectory_type, int default_downsample_ratio, int turn_downsample_ratio)

autoware_auto_msgs::msg::Trajectory	process_trajectory_plan (const carma_planning_msgs::msg::TrajectoryPlan &tp, double vehicle_response_lag)
	Given a carma type of trajectory_plan, generate autoware type of trajectory accounting for speed_lag and stopping case Generated trajectory is meant to be used in autoware.auto's pure_pursuit library using set_trajectory() function. More...

std::vector< double >	apply_response_lag (const std::vector< double > &speeds, const std::vector< double > downtracks, double response_lag)
	Applies a specified response lag in seconds to the trajectory shifting the whole thing by the specified lag time. More...

carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr	modify_trajectory_to_yield_to_obstacles (const std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > &node_handler, const carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr &req, const carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr &resp, const carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory > &yield_client, int yield_plugin_service_call_timeout)
	Applies a yield trajectory to the original trajectory set in response. More...

bool	is_valid_yield_plan (const std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > &node_handler, const carma_planning_msgs::msg::TrajectoryPlan &yield_plan)
	Helper function to verify if the input yield trajectory plan is valid. More...

int	get_nearest_point_index (const std::vector< lanelet::BasicPoint2d > &points, const carma_planning_msgs::msg::VehicleState &state)
	Returns the nearest point (in terms of cartesian 2d distance) to the provided vehicle pose in the provided l. More...

int	get_nearest_point_index (const std::vector< PointSpeedPair > &points, const carma_planning_msgs::msg::VehicleState &state)
	Returns the nearest point (in terms of cartesian 2d distance) to the provided vehicle pose in the provided list. More...

int	get_nearest_index_by_downtrack (const std::vector< lanelet::BasicPoint2d > &points, const carma_wm::WorldModelConstPtr &wm, double target_downtrack)
	Returns the nearest "less than" point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point's index if the given state, despite being valid, is farther than the given points and can technically be near any of them. More...

void	split_point_speed_pairs (const std::vector< PointSpeedPair > &points, std::vector< lanelet::BasicPoint2d > basic_points, std::vector< double > speeds)
	Helper method to split a list of PointSpeedPair into separate point and speed lists. More...

int	get_nearest_index_by_downtrack (const std::vector< PointSpeedPair > &points, const carma_wm::WorldModelConstPtr &wm, const carma_planning_msgs::msg::VehicleState &state)
	Overload: Returns the nearest point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point's index if the given state, despite being valid, is farther than the given points and can technically be near any of them. More...

int	get_nearest_index_by_downtrack (const std::vector< lanelet::BasicPoint2d > &points, const carma_wm::WorldModelConstPtr &wm, const carma_planning_msgs::msg::VehicleState &state)
	Overload: Returns the nearest point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point if the given state, despite being valid, is farther than the given points and can technically be near any of them. More...

Variables
static const std::string	BASIC_AUTONOMY_LOGGER = "basic_autonomy"

const double	epsilon_ = 0.0000001

Function Documentation

◆ add_lanefollow_buffer()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::add_lanefollow_buffer	(	const carma_wm::WorldModelConstPtr &	wm,
		std::vector< PointSpeedPair > &	points_and_target_speeds,
		const std::vector< carma_planning_msgs::msg::Maneuver > &	maneuvers,
		carma_planning_msgs::msg::VehicleState &	ending_state_before_buffer,
		const DetailedTrajConfig &	detailed_config
	)

Adds extra centerline points beyond required message length to lane follow maneuver points so that there's always enough points to calculate trajectory (BUFFER POINTS SHOULD BE REMOVED BEFORE RETURNING FINAL TRAJECTORY)

Parameters

wm	Pointer to intialized world model for semantic map access
points_and_target_speeds	set of lane follow maneuver points to which buffer is added
maneuvers	The list of lane follow maneuvers which were converted to geometry points and associated speed
ending_state_before_buffer	reference to Vehicle state, which is state before applying extra points for curvature calculation that are removed later
detailed_config	Basic autonomy struct defined to load detailed config parameters from tactical plugins

Returns: List of centerline points paired with speed limits returned with added buffer

Definition at line 225 of file basic_autonomy.cpp.

                                                                                                                       {
 
 
            double starting_route_downtrack = wm->routeTrackPos(points_and_target_speeds.front().point).downtrack;
 
            // Always try to add the maximum buffer. Even if the route ends it may still be possible to add buffered points.
            // This does mean that downstream components might not be able to assume the buffer points are on the route
            // though this is not likely to be an issue as they are buffer only
            double ending_downtrack = maneuvers.back().lane_following_maneuver.end_dist + detailed_config.buffer_ending_downtrack;
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Add lanefollow buffer: ending_downtrack: " << ending_downtrack << ", maneuvers.back().lane_following_maneuver.end_dist: " << maneuvers.back().lane_following_maneuver.end_dist <<
                            ", detailed_config.buffer_ending_downtrack: " << detailed_config.buffer_ending_downtrack);
 
            size_t max_i = points_and_target_speeds.size() - 1;
            size_t unbuffered_idx = points_and_target_speeds.size() - 1;
            bool found_unbuffered_idx = false;
            double dist_accumulator = starting_route_downtrack;
            lanelet::BasicPoint2d prev_point;
 
            boost::optional<lanelet::BasicPoint2d> delta_point;
            for (size_t i = 0; i < points_and_target_speeds.size(); ++i) {
                auto current_point = points_and_target_speeds[i].point;
 
                if (i == 0) {
                    prev_point = current_point;
                    continue;
                }
 
                double delta_d = lanelet::geometry::distance2d(prev_point, current_point);
 
                dist_accumulator += delta_d;
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Index i: " << i << ", delta_d: " << delta_d << ", dist_accumulator:" << dist_accumulator <<", current_point.x():" << current_point.x() <<
                "current_point.y():" << current_point.y());
                if (dist_accumulator > maneuvers.back().lane_following_maneuver.end_dist && !found_unbuffered_idx)
                {
                    unbuffered_idx = i - 1;
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Found index unbuffered_idx at: " << unbuffered_idx);
                    found_unbuffered_idx = true;
                }
 
                if (dist_accumulator > ending_downtrack) {
                    max_i = i;
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Max_i breaking at: i: " << i << ", max_i: " << max_i);
                    break;
                }
 
                // If there are no more points to add but we haven't reached the ending downtrack then
                // construct an extrapolated straight line from the final point and keep adding to this line until the downtrack is met
                // Since this is purely needed to allow for a spline fit edge case, it should have minimal impact on the actual steering behavior of the vehicle
                if (i == points_and_target_speeds.size() - 1) // dist_accumulator < ending_downtrack is guaranteed by earlier conditional
                {
 
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Extending trajectory using buffer beyond end of target lanelet");
                    int j = i - 1;
                    while (delta_d < epsilon_ && j >= 0 && !delta_point)
                    {
                        RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Looking at index j: " << j << ", where i: " << i);
                        prev_point = points_and_target_speeds.at(j).point;
                        j--;
                        delta_d = lanelet::geometry::distance2d(prev_point, current_point);
                    }
 
                    if (j < 0 && delta_d < epsilon_) //a very rare case where only duplicate points exist in the entire trajectory, so it wasn't possible to extend
                        break;
 
                    if (!delta_point) { // Set the step size based on last two distinct points
                        delta_point = (current_point - prev_point) * 0.25; // Use a smaller step size then default to help ensure enough points are generated;
                    }
 
                    // Create an extrapolated new point
                    auto new_point = current_point + delta_point.get();
 
                    PointSpeedPair new_pair;
                    new_pair.point = new_point;
                    new_pair.speed = points_and_target_speeds.back().speed;
 
 
                    points_and_target_speeds.push_back(new_pair);
                }
 
                prev_point = current_point;
            }
 
            ending_state_before_buffer.x_pos_global = points_and_target_speeds[unbuffered_idx].point.x();
            ending_state_before_buffer.y_pos_global = points_and_target_speeds[unbuffered_idx].point.y();
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Here ending_state_before_buffer.x_pos_global: " << ending_state_before_buffer.x_pos_global <<
            ", and y_pos_global" << ending_state_before_buffer.y_pos_global);
 
            std::vector<PointSpeedPair> constrained_points(points_and_target_speeds.begin(), points_and_target_speeds.begin() + max_i);
 
            return constrained_points;
        }

References BASIC_AUTONOMY_LOGGER, basic_autonomy::waypoint_generation::DetailedTrajConfig::buffer_ending_downtrack, epsilon_, process_bag::i, basic_autonomy::waypoint_generation::PointSpeedPair::point, and basic_autonomy::waypoint_generation::PointSpeedPair::speed.

Referenced by create_geometry_profile(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::createGeometryProfile().

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◆ apply_response_lag()

std::vector< double > basic_autonomy::waypoint_generation::apply_response_lag	(	const std::vector< double > &	speeds,
		const std::vector< double >	downtracks,
		double	response_lag
	)

Applies a specified response lag in seconds to the trajectory shifting the whole thing by the specified lag time.

Parameters

speeds	Velocity profile to shift. The first point should be the current vehicle speed
downtrack	Distance points for each velocity point. Should have the same size as speeds and start from 0
response_lag	The lag in seconds before which the vehicle will not meaningfully accelerate

Returns: A Shifted trajectory

Definition at line 1297 of file basic_autonomy.cpp.

        { // Note first speed is assumed to be vehicle speed
            if (speeds.size() != downtracks.size()) {
                throw std::invalid_argument("Speed list and downtrack list are not the same size.");
            }
 
            std::vector<double> output;
            if (speeds.empty()) {
                return output;
            }
 
            double lookahead_distance = speeds[0] * response_lag;
 
            double downtrack_cutoff = downtracks[0] + lookahead_distance;
            size_t lookahead_count = std::lower_bound(downtracks.begin(),downtracks.end(), downtrack_cutoff) - downtracks.begin(); // Use binary search to find lower bound cutoff point
            output = trajectory_utils::shift_by_lookahead(speeds, (unsigned int) lookahead_count);
            return output;
        }

Referenced by process_trajectory_plan().

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◆ apply_speed_limits()

std::vector< double > basic_autonomy::waypoint_generation::apply_speed_limits	(	const std::vector< double >	speeds,
		const std::vector< double >	speed_limits
	)

Applies the provided speed limits to the provided speeds such that each element is capped at its corresponding speed limit if needed.

Parameters

speeds	The speeds to limit
speed_limits	The speed limits to apply. Must have the same size as speeds

Returns: The capped speed limits. Has the same size as speeds

Definition at line 616 of file basic_autonomy.cpp.

        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Speeds list size: " << speeds.size());
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "SpeedLimits list size: " << speed_limits.size());
 
            if (speeds.size() != speed_limits.size())
            {
                throw std::invalid_argument("Speeds and speed limit lists not same size");
            }
            std::vector<double> out;
            for (size_t i = 0; i < speeds.size(); i++)
            {
                out.push_back(std::min(speeds[i], speed_limits[i]));
            }
 
            return out;
        }

References BASIC_AUTONOMY_LOGGER, and process_bag::i.

Referenced by compose_lanefollow_trajectory_from_path(), and stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline().

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◆ attach_past_points()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::attach_past_points	(	const std::vector< PointSpeedPair > &	points_set,
		std::vector< PointSpeedPair >	future_points,
		const int	nearest_pt_index,
		double	back_distance
	)

Attaches back_distance length of points behind the future points.

Parameters

points_set	all point speed pairs
future_points	future points before which to attach the points
nearest_pt_index	idx of the first future_point in points_set
back_distance	the back distance to be added, in meters

Returns: point speed pairs with back distance length of points in front of future points NOTE- used to add past points to future trajectory for smooth spline calculation

Definition at line 793 of file basic_autonomy.cpp.

        {
            std::vector<PointSpeedPair> back_and_future;
            back_and_future.reserve(points_set.size());
            double total_dist = 0;
            int min_i = 0;
 
            // int must be used here to avoid overflow when i = 0
            for (int i = nearest_pt_index; i >= 0; --i)
            {
                min_i = i;
                total_dist += lanelet::geometry::distance2d(points_set[i].point, points_set[i - 1].point);
 
                if (total_dist > back_distance)
                {
                    break;
                }
            }
 
            back_and_future.insert(back_and_future.end(), points_set.begin() + min_i, points_set.begin() + nearest_pt_index + 1);
            back_and_future.insert(back_and_future.end(), future_points.begin(), future_points.end());
            return back_and_future;
        }

References process_bag::i, and process_traj_logs::point.

Referenced by compose_lanefollow_trajectory_from_path(), and stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline().

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◆ compose_detailed_trajectory_config()

DetailedTrajConfig basic_autonomy::waypoint_generation::compose_detailed_trajectory_config	(	double	trajectory_time_length,
		double	curve_resample_step_size,
		double	minimum_speed,
		double	max_accel,
		double	lateral_accel_limit,
		int	speed_moving_average_window_size,
		int	curvature_moving_average_window_size,
		double	back_distance,
		double	buffer_ending_downtrack,
		std::string	desired_controller_plugin = `"default"`
	)

Definition at line 1082 of file basic_autonomy.cpp.

        {
            DetailedTrajConfig detailed_config;
 
            detailed_config.trajectory_time_length = trajectory_time_length;
            detailed_config.curve_resample_step_size = curve_resample_step_size;
            detailed_config.minimum_speed = minimum_speed;
            detailed_config.max_accel = max_accel;
            detailed_config.lateral_accel_limit = lateral_accel_limit;
            detailed_config.speed_moving_average_window_size = speed_moving_average_window_size;
            detailed_config.curvature_moving_average_window_size = curvature_moving_average_window_size;
            detailed_config.back_distance = back_distance;
            detailed_config.buffer_ending_downtrack = buffer_ending_downtrack;
            detailed_config.desired_controller_plugin = desired_controller_plugin;
 
            return detailed_config;
        }

Referenced by cooperative_lanechange::CooperativeLaneChangePlugin::plan_lanechange(), inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback(), platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

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◆ compose_general_trajectory_config()

GeneralTrajConfig basic_autonomy::waypoint_generation::compose_general_trajectory_config	(	const std::string &	trajectory_type,
		int	default_downsample_ratio,
		int	turn_downsample_ratio
	)

Definition at line 1109 of file basic_autonomy.cpp.

        {
            GeneralTrajConfig general_config;
 
            general_config.trajectory_type = trajectory_type;
            general_config.default_downsample_ratio = default_downsample_ratio;
            general_config.turn_downsample_ratio = turn_downsample_ratio;
 
 
            return general_config;
        }

References basic_autonomy::waypoint_generation::GeneralTrajConfig::default_downsample_ratio, basic_autonomy::waypoint_generation::GeneralTrajConfig::trajectory_type, and basic_autonomy::waypoint_generation::GeneralTrajConfig::turn_downsample_ratio.

Referenced by cooperative_lanechange::CooperativeLaneChangePlugin::plan_lanechange(), inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback(), platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

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◆ compose_lanechange_trajectory_from_path()

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint > basic_autonomy::waypoint_generation::compose_lanechange_trajectory_from_path	(	const std::vector< PointSpeedPair > &	points,
		const carma_planning_msgs::msg::VehicleState &	state,
		const rclcpp::Time &	state_time,
		const carma_wm::WorldModelConstPtr &	wm,
		const carma_planning_msgs::msg::VehicleState &	ending_state_before_buffer,
		const DetailedTrajConfig &	detailed_config
	)

Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning for a Lane following maneuver.

Parameters

points	The set of points that define the current lane the vehicle is in and are defined based on the request planning maneuvers. These points must be in the same lane as the vehicle and must extend in front of it though it is fine if they also extend behind it.
state	The current state of the vehicle
state_time	The abosolute time which the provided vehicle state corresponds to
wm	The carma world model object which the vehicle is operating in.
ending_state_before_buffer	The vehicle state before a buffer was added to the points. Used to revert the trajectory to required distance before returning.

Returns: A list of trajectory points to send to the carma planning stack

Definition at line 1124 of file basic_autonomy.cpp.

        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Input points size in compose traj from centerline: "<< points.size());
            int nearest_pt_index = get_nearest_index_by_downtrack(points, wm, state);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "nearest_pt_index: "<< nearest_pt_index);
 
            std::vector<PointSpeedPair> future_points(points.begin() + nearest_pt_index + 1, points.end());
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "future_points size: "<< future_points.size());
 
            //Compute yaw values from original trajectory.
            std::vector<lanelet::BasicPoint2d> future_geom_points;
            std::vector<double> final_actual_speeds;
            split_point_speed_pairs(future_points, &future_geom_points, &final_actual_speeds);
 
            std::unique_ptr<smoothing::SplineI> fit_curve = compute_fit(future_geom_points);
            if(!fit_curve){
                throw std::invalid_argument("Could not fit a spline curve along the given trajectory!");
            }
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got fit");
            std::vector<lanelet::BasicPoint2d> all_sampling_points;
            all_sampling_points.reserve(1 + future_geom_points.size() * 2);
 
            lanelet::BasicPoint2d current_vehicle_point(state.x_pos_global, state.y_pos_global);
 
            future_geom_points.insert(future_geom_points.begin(),
                                       current_vehicle_point); // Add current vehicle position to front of future geometry points
 
            final_actual_speeds.insert(final_actual_speeds.begin(), state.longitudinal_vel);
 
            //Compute points to local downtracks
            std::vector<double> downtracks = carma_wm::geometry::compute_arc_lengths(future_geom_points);
 
            auto total_step_along_curve = static_cast<int>(downtracks.back() /detailed_config.curve_resample_step_size);
 
            double scaled_steps_along_curve = 0.0; //from 0 (start) to 1 (end) for the whole trajectory
 
            for(int steps_along_curve = 0; steps_along_curve < total_step_along_curve; steps_along_curve++){
                lanelet::BasicPoint2d p = (*fit_curve)(scaled_steps_along_curve);
 
                all_sampling_points.push_back(p);
 
                scaled_steps_along_curve += 1.0 / total_step_along_curve;
            }
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got sampled points with size:" << all_sampling_points.size());
 
            std::vector<double> final_yaw_values = carma_wm::geometry::compute_tangent_orientations(future_geom_points);
            if(final_yaw_values.size() > 0) {
                final_yaw_values[0] = state.orientation; // Set the initial yaw value based on the initial state
            }
 
            final_actual_speeds = smoothing::moving_average_filter(final_actual_speeds, detailed_config.speed_moving_average_window_size);
 
            //Convert speeds to time
            std::vector<double> times;
            trajectory_utils::conversions::speed_to_time(downtracks, final_actual_speeds, &times);
 
            //Remove extra points
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Before removing extra buffer points, future_geom_points.size()"<< future_geom_points.size());
            int end_dist_pt_index = get_nearest_index_by_downtrack(future_geom_points, wm, ending_state_before_buffer);
            future_geom_points.resize(end_dist_pt_index + 1);
            times.resize(end_dist_pt_index + 1);
            final_yaw_values.resize(end_dist_pt_index + 1);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "After removing extra buffer points, future_geom_points.size():"<< future_geom_points.size());
 
            std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> traj_points =
                trajectory_from_points_times_orientations(future_geom_points, times, final_yaw_values, state_time, detailed_config.desired_controller_plugin);
 
            return traj_points;
        }

References BASIC_AUTONOMY_LOGGER, carma_wm::geometry::compute_arc_lengths(), compute_fit(), carma_wm::geometry::compute_tangent_orientations(), basic_autonomy::waypoint_generation::DetailedTrajConfig::curve_resample_step_size, basic_autonomy::waypoint_generation::DetailedTrajConfig::desired_controller_plugin, get_nearest_index_by_downtrack(), basic_autonomy::smoothing::moving_average_filter(), basic_autonomy::waypoint_generation::DetailedTrajConfig::speed_moving_average_window_size, split_point_speed_pairs(), and trajectory_from_points_times_orientations().

Referenced by cooperative_lanechange::CooperativeLaneChangePlugin::plan_lanechange().

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◆ compose_lanefollow_trajectory_from_path()

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint > basic_autonomy::waypoint_generation::compose_lanefollow_trajectory_from_path	(	const std::vector< PointSpeedPair > &	points,
		const carma_planning_msgs::msg::VehicleState &	state,
		const rclcpp::Time &	state_time,
		const carma_wm::WorldModelConstPtr &	wm,
		const carma_planning_msgs::msg::VehicleState &	ending_state_before_buffer,
		carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds &	debug_msg,
		const DetailedTrajConfig &	detailed_config
	)

Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning for a Lane following maneuver.

Parameters

points	The set of points that define the current lane the vehicle is in and are defined based on the request planning maneuvers. These points must be in the same lane as the vehicle and must extend in front of it though it is fine if they also extend behind it.
state	The current state of the vehicle
state_time	The abosolute time which the provided vehicle state corresponds to

Returns: A list of trajectory points to send to the carma planning stack

Definition at line 865 of file basic_autonomy.cpp.

        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "VehicleState: "
                             << " x: " << state.x_pos_global << " y: " << state.y_pos_global << " yaw: " << state.orientation
                             << " speed: " << state.longitudinal_vel);
 
            log::printDebugPerLine(points, &log::pointSpeedPairToStream);
 
            int nearest_pt_index = get_nearest_point_index(points, state);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "NearestPtIndex: " << nearest_pt_index);
 
            std::vector<PointSpeedPair> future_points(points.begin() + nearest_pt_index + 1, points.end()); // Points in front of current vehicle position
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Ready to call constrain_to_time_boundary: future_points size = " << future_points.size() << ", trajectory_time_length = " << detailed_config.trajectory_time_length);
 
            auto time_bound_points = constrain_to_time_boundary(future_points, detailed_config.trajectory_time_length);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got time_bound_points with size:" << time_bound_points.size());
            log::printDebugPerLine(time_bound_points, &log::pointSpeedPairToStream);
 
            std::vector<PointSpeedPair> back_and_future = attach_past_points(points, time_bound_points, nearest_pt_index, detailed_config.back_distance);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got back_and_future points with size" << back_and_future.size());
            log::printDebugPerLine(back_and_future, &log::pointSpeedPairToStream);
 
            std::vector<double> speed_limits;
            std::vector<lanelet::BasicPoint2d> curve_points;
            split_point_speed_pairs(back_and_future, &curve_points, &speed_limits);
 
            std::unique_ptr<smoothing::SplineI> fit_curve = compute_fit(curve_points); // Compute splines based on curve points
            if (!fit_curve)
            {
                throw std::invalid_argument("Could not fit a spline curve along the given trajectory!");
            }
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got fit");
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "speed_limits.size() " << speed_limits.size());
 
            std::vector<lanelet::BasicPoint2d> all_sampling_points;
            all_sampling_points.reserve(1 + curve_points.size() * 2);
 
            std::vector<double> distributed_speed_limits;
            distributed_speed_limits.reserve(1 + curve_points.size() * 2);
 
            // compute total length of the trajectory to get correct number of points
            // we expect using curve_resample_step_size
            std::vector<double> downtracks_raw = carma_wm::geometry::compute_arc_lengths(curve_points);
 
            auto total_step_along_curve = static_cast<int>(downtracks_raw.back() / detailed_config.curve_resample_step_size);
 
            int current_speed_index = 0;
            size_t total_point_size = curve_points.size();
 
            double step_threshold_for_next_speed = (double)total_step_along_curve / (double)total_point_size;
            double scaled_steps_along_curve = 0.0; // from 0 (start) to 1 (end) for the whole trajectory
            std::vector<double> better_curvature;
            better_curvature.reserve(1 + curve_points.size() * 2);
 
            for (int steps_along_curve = 0; steps_along_curve < total_step_along_curve; steps_along_curve++) // Resample curve at tighter resolution
            {
                lanelet::BasicPoint2d p = (*fit_curve)(scaled_steps_along_curve);
 
                all_sampling_points.push_back(p);
                double c = compute_curvature_at((*fit_curve), scaled_steps_along_curve);
                better_curvature.push_back(c);
                if ((double)steps_along_curve > step_threshold_for_next_speed)
                {
                    step_threshold_for_next_speed += (double)total_step_along_curve / (double)total_point_size;
                    current_speed_index++;
                }
                distributed_speed_limits.push_back(speed_limits[current_speed_index]); // Identify speed limits for resampled points
                scaled_steps_along_curve += 1.0 / total_step_along_curve;              //adding steps_along_curve_step_size
            }
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Got sampled points with size:" << all_sampling_points.size());
            log::printDebugPerLine(all_sampling_points, &log::basicPointToStream);
 
            std::vector<double> final_yaw_values = carma_wm::geometry::compute_tangent_orientations(all_sampling_points);
 
            log::printDoublesPerLineWithPrefix("raw_curvatures[i]: ", better_curvature);
 
            std::vector<double> curvatures = smoothing::moving_average_filter(better_curvature, detailed_config.curvature_moving_average_window_size, false);
            std::vector<double> ideal_speeds =
                trajectory_utils::constrained_speeds_for_curvatures(curvatures, detailed_config.lateral_accel_limit);
 
            log::printDoublesPerLineWithPrefix("curvatures[i]: ", curvatures);
            log::printDoublesPerLineWithPrefix("ideal_speeds: ", ideal_speeds);
            log::printDoublesPerLineWithPrefix("final_yaw_values[i]: ", final_yaw_values);
 
            std::vector<double> constrained_speed_limits = apply_speed_limits(ideal_speeds, distributed_speed_limits);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Processed all points in computed fit");
 
            if (all_sampling_points.empty())
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "No trajectory points could be generated");
                return {};
            }
 
            // Add current vehicle point to front of the trajectory
 
            nearest_pt_index = get_nearest_index_by_downtrack(all_sampling_points, wm, state);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Current state's nearest_pt_index: " << nearest_pt_index);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Curvature right now: " << better_curvature[nearest_pt_index] << ", at state x: " << state.x_pos_global << ", state y: " << state.y_pos_global);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Corresponding to point: x: " << all_sampling_points[nearest_pt_index].x() << ", y:" << all_sampling_points[nearest_pt_index].y());
 
            int buffer_pt_index = get_nearest_index_by_downtrack(all_sampling_points, wm, ending_state_before_buffer);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Ending state's index before applying buffer (buffer_pt_index): " << buffer_pt_index);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Corresponding to point: x: " << all_sampling_points[buffer_pt_index].x() << ", y:" << all_sampling_points[buffer_pt_index].y());
 
            if(nearest_pt_index + 1 >= buffer_pt_index){
 
                lanelet::BasicPoint2d current_pos(state.x_pos_global, state.y_pos_global);
                lanelet::BasicPoint2d ending_pos(ending_state_before_buffer.x_pos_global, ending_state_before_buffer.y_pos_global);
 
                if(wm->routeTrackPos(ending_pos).downtrack < wm->routeTrackPos(current_pos).downtrack ){
 
                    RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Current state is at or past the planned end distance. Couldn't generate trajectory");
                    return {};
                }
                else{
                    //Current point is behind the ending state of maneuver and a valid trajectory is possible
                    RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Returning the two remaining points in the maneuver");
 
                    std::vector<lanelet::BasicPoint2d> remaining_traj_points = {current_pos, ending_pos};
 
                    std::vector<double> downtracks = carma_wm::geometry::compute_arc_lengths(remaining_traj_points);
                    std::vector<double> speeds = {state.longitudinal_vel, state.longitudinal_vel};//Keep current speed
                    std::vector<double> times;
                    trajectory_utils::conversions::speed_to_time(downtracks, speeds, &times);
                    std::vector<double> yaw = {state.orientation, state.orientation}; //Keep current orientation
 
                    std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> traj_points =
                    trajectory_from_points_times_orientations(remaining_traj_points, times, yaw, state_time, detailed_config.desired_controller_plugin);
 
                    return traj_points;
 
                }
            }
 
            //drop buffer points here
 
             std::vector<lanelet::BasicPoint2d> future_basic_points(all_sampling_points.begin() + nearest_pt_index + 1,
                                            all_sampling_points.begin()+ buffer_pt_index);  // Points in front of current vehicle position
 
            std::vector<double> future_speeds(constrained_speed_limits.begin() + nearest_pt_index + 1,
                                                        constrained_speed_limits.begin() + buffer_pt_index);  // Points in front of current vehicle position
            std::vector<double> future_yaw(final_yaw_values.begin() + nearest_pt_index + 1,
                                                        final_yaw_values.begin() + buffer_pt_index);  // Points in front of current vehicle position
            std::vector<double>  final_actual_speeds = future_speeds;
            all_sampling_points = future_basic_points;
            final_yaw_values = future_yaw;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Trimmed future points to size: "<< future_basic_points.size());
 
            lanelet::BasicPoint2d cur_veh_point(state.x_pos_global, state.y_pos_global);
 
            all_sampling_points.insert(all_sampling_points.begin(),
                                       cur_veh_point); // Add current vehicle position to front of sample points
 
            final_actual_speeds.insert(final_actual_speeds.begin(), state.longitudinal_vel);
 
            final_yaw_values.insert(final_yaw_values.begin(), state.orientation);
 
            // Compute points to local downtracks
            std::vector<double> downtracks = carma_wm::geometry::compute_arc_lengths(all_sampling_points);
 
            // Apply accel limits
            final_actual_speeds = optimize_speed(downtracks, final_actual_speeds, detailed_config.max_accel);
 
            log::printDoublesPerLineWithPrefix("postAccel[i]: ", final_actual_speeds);
 
            final_actual_speeds = smoothing::moving_average_filter(final_actual_speeds, detailed_config.speed_moving_average_window_size);
 
            log::printDoublesPerLineWithPrefix("post_average[i]: ", final_actual_speeds);
 
            for (auto &s : final_actual_speeds) // Limit minimum speed. TODO how to handle stopping?
            {
                s = std::max(s, detailed_config.minimum_speed);
            }
 
            log::printDoublesPerLineWithPrefix("post_min_speed[i]: ", final_actual_speeds);
 
            // Convert speeds to times
            std::vector<double> times;
            trajectory_utils::conversions::speed_to_time(downtracks, final_actual_speeds, &times);
 
            log::printDoublesPerLineWithPrefix("times[i]: ", times);
 
            // Build trajectory points
            std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> traj_points =
                trajectory_from_points_times_orientations(all_sampling_points, times, final_yaw_values, state_time, detailed_config.desired_controller_plugin);
 
            //debug msg
            carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds msg;
            msg.velocity_profile = final_actual_speeds;
            msg.relative_downtrack = downtracks;
            msg.tangent_headings = final_yaw_values;
            std::vector<double> aligned_speed_limits(constrained_speed_limits.begin() + nearest_pt_index,
                                                    constrained_speed_limits.end());
 
            msg.speed_limits = aligned_speed_limits;
            std::vector<double> aligned_curvatures(curvatures.begin() + nearest_pt_index,
                                                    curvatures.end());
            msg.curvatures = aligned_curvatures;
            msg.lat_accel_limit = detailed_config.lateral_accel_limit;
            msg.lon_accel_limit = detailed_config.max_accel;
            msg.starting_state = state;
            debug_msg = msg;
 
 
            return traj_points;
        }

Referenced by inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback(), platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

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◆ compute_curvature_at()

double basic_autonomy::waypoint_generation::compute_curvature_at	(	const basic_autonomy::smoothing::SplineI &	fit_curve,
		double	step_along_the_curve
	)

Given the curvature fit, computes the curvature at the given step along the curve.

Parameters

step_along_the_curve	Value in double from 0.0 (curvature start) to 1.0 (curvature end) representing where to calculate the curvature
fit_curve	curvature fit

Returns: Curvature (k = 1/r, 1/meter)

Definition at line 855 of file basic_autonomy.cpp.

        {
            lanelet::BasicPoint2d f_prime_pt = fit_curve.first_deriv(step_along_the_curve);
            lanelet::BasicPoint2d f_prime_prime_pt = fit_curve.second_deriv(step_along_the_curve);
            // Convert to 3d vector to do 3d vector operations like cross.
            Eigen::Vector3d f_prime = {f_prime_pt.x(), f_prime_pt.y(), 0};
            Eigen::Vector3d f_prime_prime = {f_prime_prime_pt.x(), f_prime_prime_pt.y(), 0};
            return (f_prime.cross(f_prime_prime)).norm() / (pow(f_prime.norm(), 3));
        }

References basic_autonomy::smoothing::SplineI::first_deriv(), and basic_autonomy::smoothing::SplineI::second_deriv().

Referenced by compose_lanefollow_trajectory_from_path(), and stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline().

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◆ compute_fit()

std::unique_ptr< basic_autonomy::smoothing::SplineI > basic_autonomy::waypoint_generation::compute_fit ( const std::vector< lanelet::BasicPoint2d > & basic_points )

Computes a spline based on the provided points.

Parameters

basic_points The points to use for fitting the spline

Returns: A spline which has been fit to the provided points

Definition at line 818 of file basic_autonomy.cpp.

        {
            if (basic_points.size() < 4)
            {
                RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Insufficient Spline Points");
                return nullptr;
            }
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Original basic_points size: " << basic_points.size());
 
            std::vector<lanelet::BasicPoint2d> resized_basic_points = basic_points;
 
            // The large the number of points, longer it takes to calculate a spline fit
            // So if the basic_points vector size is large, only the first 400 points are used to compute a spline fit.
            if (resized_basic_points.size() > 400)
            {
                resized_basic_points.resize(400);
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Resized basic_points size: " << resized_basic_points.size());
 
                size_t left_points_size = basic_points.size() - resized_basic_points.size();
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Number of left out basic_points size: " << left_points_size);
 
                float percent_points_lost = 100.0 * (float)left_points_size/basic_points.size();
 
                if (percent_points_lost > 50.0)
                {
                    RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "More than half of basic points are ignored for spline fitting");
                }
            }
 
            std::unique_ptr<basic_autonomy::smoothing::SplineI> spl = std::make_unique<basic_autonomy::smoothing::BSpline>();
 
            spl->setPoints(resized_basic_points);
 
            return spl;
        }

References BASIC_AUTONOMY_LOGGER.

Referenced by compose_lanechange_trajectory_from_path(), compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline(), and resample_linestring_pair_to_same_size().

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◆ compute_heading_frame()

Eigen::Isometry2d basic_autonomy::waypoint_generation::compute_heading_frame	(	const lanelet::BasicPoint2d &	p1,
		const lanelet::BasicPoint2d &	p2
	)

Returns a 2D coordinate frame which is located at p1 and oriented so p2 lies on the +X axis.

Parameters

p1	The origin point for the frame in the parent frame
p2	A point in the parent frame that will define the +X axis relative to p1

Returns: A 2D coordinate frame transform

Definition at line 635 of file basic_autonomy.cpp.

        {
            Eigen::Rotation2Dd yaw(atan2(p2.y() - p1.y(), p2.x() - p1.x()));
 
            return carma_wm::geometry::build2dEigenTransform(p1, yaw);
        }

References carma_wm::geometry::build2dEigenTransform().

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◆ constrain_to_time_boundary()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::constrain_to_time_boundary	(	const std::vector< PointSpeedPair > &	points,
		double	time_span
	)

Reduces the input points to only those points that fit within the provided time boundary.

Parameters

points	The input point speed pairs to reduce
time_span	The time span in seconds which the output points will fit within

Returns: The subset of points that fit within time_span

Definition at line 643 of file basic_autonomy.cpp.

        {
            std::vector<lanelet::BasicPoint2d> basic_points;
            std::vector<double> speeds;
            split_point_speed_pairs(points, &basic_points, &speeds);
 
            std::vector<double> downtracks = carma_wm::geometry::compute_arc_lengths(basic_points);
 
            size_t time_boundary_exclusive_index =
                trajectory_utils::time_boundary_index(downtracks, speeds, time_span);
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "time_boundary_exclusive_index = " << time_boundary_exclusive_index);
 
            if (time_boundary_exclusive_index == 0)
            {
                throw std::invalid_argument("No points to fit in timespan");
            }
 
            std::vector<PointSpeedPair> time_bound_points;
            time_bound_points.reserve(time_boundary_exclusive_index);
 
            if (time_boundary_exclusive_index == points.size())
            {
                time_bound_points.insert(time_bound_points.end(), points.begin(),
                                         points.end()); // All points fit within time boundary
            }
            else
            {
                time_bound_points.insert(time_bound_points.end(), points.begin(),
                                         points.begin() + time_boundary_exclusive_index - 1); // Limit points by time boundary
            }
 
            return time_bound_points;
        }

References BASIC_AUTONOMY_LOGGER, carma_wm::geometry::compute_arc_lengths(), and split_point_speed_pairs().

Referenced by compose_lanefollow_trajectory_from_path(), and stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline().

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◆ create_geometry_profile()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::create_geometry_profile	(	const std::vector< carma_planning_msgs::msg::Maneuver > &	maneuvers,
		double	max_starting_downtrack,
		const carma_wm::WorldModelConstPtr &	wm,
		carma_planning_msgs::msg::VehicleState &	ending_state_before_buffer,
		const carma_planning_msgs::msg::VehicleState &	state,
		const GeneralTrajConfig &	general_config,
		const DetailedTrajConfig &	detailed_config
	)

Creates geometry profile to return a point speed pair struct for LANE FOLLOW and LANE CHANGE maneuver types.

Parameters

maneuvers	The list of maneuvers to convert to geometry points and calculate associated speed
max_starting_downtrack	The maximum downtrack that is allowed for the first maneuver. This should be set to the vehicle position or earlier. If the first maneuver exceeds this then it's downtrack will be shifted to this value.
wm	Pointer to intialized world model for semantic map access
ending_state_before_buffer	reference to Vehicle state, which is state before applying extra points for curvature calculation that are removed later
state	The vehicle state at the time the function is called
general_config	Basic autonomy struct defined to load general config parameters from tactical plugins
detailed_config	Basic autonomy struct defined to load detailed config parameters from tactical plugins

Returns: A vector of point speed pair struct which contains geometry points as basicpoint::lanelet2d and speed as a double for the maneuver

Definition at line 24 of file basic_autonomy.cpp.

                                                                                                                                                      {
            std::vector<PointSpeedPair> points_and_target_speeds;
 
            bool first = true;
            std::unordered_set<lanelet::Id> visited_lanelets;
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "VehDowntrack:"<<max_starting_downtrack);
            for(const auto &maneuver : maneuvers)
            {
                double starting_downtrack = GET_MANEUVER_PROPERTY(maneuver, start_dist);
 
                if(first){
                    starting_downtrack = std::min(starting_downtrack, max_starting_downtrack);
                    first = false;
                }
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Used downtrack: " << starting_downtrack);
 
                if(maneuver.type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER),"Creating Lane Follow Geometry");
                    std::vector<PointSpeedPair> lane_follow_points = create_lanefollow_geometry(maneuver, starting_downtrack, wm, general_config, detailed_config, visited_lanelets);
                    points_and_target_speeds.insert(points_and_target_speeds.end(), lane_follow_points.begin(), lane_follow_points.end());
                }
                else if(maneuver.type == carma_planning_msgs::msg::Maneuver::LANE_CHANGE){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Creating Lane Change Geometry");
                    std::vector<PointSpeedPair> lane_change_points = get_lanechange_points_from_maneuver(maneuver, starting_downtrack, wm, ending_state_before_buffer, state, general_config, detailed_config);
                    points_and_target_speeds.insert(points_and_target_speeds.end(), lane_change_points.begin(), lane_change_points.end());
                }
                else{
                    throw std::invalid_argument("This maneuver type is not supported");
                }
 
            }
 
            //Add buffer ending to lane follow points at the end of maneuver(s) end dist
            if(maneuvers.back().type == carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING){
                points_and_target_speeds = add_lanefollow_buffer(wm, points_and_target_speeds, maneuvers, ending_state_before_buffer, detailed_config);
 
            }
            return points_and_target_speeds;
 
        }

References add_lanefollow_buffer(), BASIC_AUTONOMY_LOGGER, create_lanefollow_geometry(), get_lanechange_points_from_maneuver(), and GET_MANEUVER_PROPERTY.

Referenced by cooperative_lanechange::CooperativeLaneChangePlugin::plan_lanechange(), inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback(), and platooning_tactical_plugin::PlatooningTacticalPlugin::plan_trajectory_cb().

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◆ create_lanechange_geometry()

std::vector< lanelet::BasicPoint2d > basic_autonomy::waypoint_generation::create_lanechange_geometry	(	lanelet::Id	starting_lane_id,
		lanelet::Id	ending_lane_id,
		double	starting_downtrack,
		double	ending_downtrack,
		const carma_wm::WorldModelConstPtr &	wm,
		int	downsample_ratio,
		double	buffer_ending_downtrack
	)

Creates a vector of lane change points using parameters defined.

Parameters

starting_lane_id	lanelet id for where lane change plan should start
ending_lane_id	lanelet id for where lane change plan should end
starting_downtrack	The downtrack distance from which the lane change maneuver starts
ending_downtrack	The downtrack distance at which the lane change maneuver end
wm	Pointer to intialized world model for semantic map access
downsample_ratio	TODO: add description
buffer_ending_downtrack	The additional downtrack beyond requested end dist used to fit points along spline

Returns: A vector of geometry points as lanelet::basicpoint2d

Definition at line 319 of file basic_autonomy.cpp.

        {
            std::vector<lanelet::BasicPoint2d> centerline_points;
 
            //Get starting lanelet and ending lanelets
            lanelet::ConstLanelet starting_lanelet = wm->getMap()->laneletLayer.get(starting_lane_id);
            lanelet::ConstLanelet ending_lanelet = wm->getMap()->laneletLayer.get(ending_lane_id);
 
            lanelet::ConstLanelets starting_lane;
            starting_lane.push_back(starting_lanelet);
 
            std::vector<lanelet::BasicPoint2d> reference_centerline;
            // 400 value here is an arbitrary attempt at improving performance by reducing copy operations.
            // Value picked based on annecdotal evidence from STOL system testing
            reference_centerline.reserve(400);
            bool shared_boundary_found = false;
            bool is_lanechange_left = false;
 
            lanelet::BasicLineString2d current_lanelet_centerline = starting_lanelet.centerline2d().basicLineString();
            lanelet::ConstLanelet current_lanelet = starting_lanelet;
            reference_centerline.insert(reference_centerline.end(), current_lanelet_centerline.begin(), current_lanelet_centerline.end());
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Searching for shared boundary with starting lanechange lanelet " << std::to_string(current_lanelet.id()) << " and ending lanelet " << std::to_string(ending_lanelet.id()));
            while(!shared_boundary_found){
                //Assumption- Adjacent lanelets share lane boundary
                if(current_lanelet.leftBound() == ending_lanelet.rightBound()){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Lanelet " << std::to_string(current_lanelet.id()) << " shares left boundary with " << std::to_string(ending_lanelet.id()));
                    is_lanechange_left = true;
                    shared_boundary_found = true;
                }
 
                else if(current_lanelet.rightBound() == ending_lanelet.leftBound()){
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Lanelet " << std::to_string(current_lanelet.id()) << " shares right boundary with " << std::to_string(ending_lanelet.id()));
                    shared_boundary_found = true;
                }
 
                else{
                    //If there are no following lanelets on route, lanechange should be completing before reaching it
                    if(wm->getMapRoutingGraph()->following(current_lanelet, false).empty())
                    {
                        // Maneuver requires we travel further before completing lane change, but no routable lanelet directly ahead
                        //In this case we have reached a lanelet which does not have a routable lanelet ahead + isn't adjacent to the lanelet where lane change ends
                        //A lane change should have already happened at this point
                        throw(std::invalid_argument("No following lanelets from current lanelet reachable without a lane change, incorrectly chosen end lanelet"));
                    }
 
                    current_lanelet = wm->getMapRoutingGraph()->following(current_lanelet, false).front();
                    if(current_lanelet.id() == starting_lanelet.id()){
                        //Looped back to starting lanelet
                        throw(std::invalid_argument("No lane change in path"));
                    }
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Now checking for shared lane boundary with lanelet " << std::to_string(current_lanelet.id()) << " and ending lanelet " << std::to_string(ending_lanelet.id()));
                    auto current_lanelet_linestring = current_lanelet.centerline2d().basicLineString();
                    //Concatenate linestring starting from + 1 to avoid overlap
                    reference_centerline.insert(reference_centerline.end(), current_lanelet_linestring.begin() + 1, current_lanelet_linestring.end());
                    starting_lane.push_back(current_lanelet);
                }
            }
 
            // Create the target lane centerline using lanelets adjacent to the lanechange lanelets in the starting lane
            std::vector<lanelet::BasicPoint2d> target_lane_centerline;
            for(size_t i = 0;i<starting_lane.size();++i){
                lanelet::ConstLanelet curr_end_lanelet;
 
                if(is_lanechange_left){
 
                    //get left lanelet
                    if(wm->getMapRoutingGraph()->left(starting_lane[i])){
                        curr_end_lanelet = wm->getMapRoutingGraph()->left(starting_lane[i]).get();
                    }
                    else{
                        curr_end_lanelet = wm->getMapRoutingGraph()->adjacentLeft(starting_lane[i]).get();
                    }
                }
                else{
 
                    //get right lanelet
                    if(wm->getMapRoutingGraph()->right(starting_lane[i])){
                        curr_end_lanelet = wm->getMapRoutingGraph()->right(starting_lane[i]).get();
                    }
                    else{
                        curr_end_lanelet = wm->getMapRoutingGraph()->adjacentRight(starting_lane[i]).get();
                    }
                }
 
                auto target_lane_linestring = curr_end_lanelet.centerline2d().basicLineString();
                //Concatenate linestring starting from + 1 to avoid overlap
                target_lane_centerline.insert(target_lane_centerline.end(), target_lane_linestring.begin() + 1, target_lane_linestring.end());
 
            }
 
            //Downsample centerlines
            // 400 value here is an arbitrary attempt at improving performance by reducing copy operations.
            // Value picked based on annecdotal evidence from STOL system testing
 
            std::vector<lanelet::BasicPoint2d> downsampled_starting_centerline;
            downsampled_starting_centerline.reserve(400);
            downsampled_starting_centerline = carma_ros2_utils::containers::downsample_vector(reference_centerline, downsample_ratio);
 
            std::vector<lanelet::BasicPoint2d> downsampled_target_centerline;
            downsampled_target_centerline.reserve(400);
            downsampled_target_centerline = carma_ros2_utils::containers::downsample_vector(target_lane_centerline, downsample_ratio);
 
            // Constrain centerlines to starting and ending downtrack
            int start_index_starting_centerline = waypoint_generation::get_nearest_index_by_downtrack(downsampled_starting_centerline, wm, starting_downtrack);
            carma_planning_msgs::msg::VehicleState start_state;
            start_state.x_pos_global = downsampled_starting_centerline[start_index_starting_centerline].x();
            start_state.y_pos_global = downsampled_starting_centerline[start_index_starting_centerline].y();
            int start_index_target_centerline = waypoint_generation::get_nearest_point_index(downsampled_target_centerline, start_state);
 
            int end_index_target_centerline = waypoint_generation::get_nearest_index_by_downtrack(downsampled_target_centerline, wm, ending_downtrack);
            carma_planning_msgs::msg::VehicleState end_state;
            end_state.x_pos_global = downsampled_target_centerline[end_index_target_centerline].x();
            end_state.y_pos_global = downsampled_target_centerline[end_index_target_centerline].y();
            int end_index_starting_centerline = waypoint_generation::get_nearest_point_index(downsampled_starting_centerline, end_state);
 
            std::vector<lanelet::BasicPoint2d> constrained_start_centerline(downsampled_starting_centerline.begin() + start_index_starting_centerline, downsampled_starting_centerline.begin() + end_index_starting_centerline);
            std::vector<lanelet::BasicPoint2d> constrained_target_centerline(downsampled_target_centerline.begin() + start_index_target_centerline, downsampled_target_centerline.begin() + end_index_target_centerline);
 
            // If constrained centerlines are not the same size - resample to ensure same size along both centerlines
            if(constrained_start_centerline.size() != constrained_target_centerline.size())
            {
                auto centerlines = resample_linestring_pair_to_same_size(constrained_start_centerline, constrained_target_centerline);
                constrained_start_centerline = centerlines[0];
                constrained_target_centerline = centerlines[1];
 
            }
 
            //Create Trajectory geometry
            double delta_step = 1.0 / constrained_start_centerline.size();
 
            for (size_t i = 0; i < constrained_start_centerline.size(); ++i)
            {
                lanelet::BasicPoint2d current_position;
                lanelet::BasicPoint2d start_lane_pt = constrained_start_centerline[i];
                lanelet::BasicPoint2d target_lane_pt = constrained_target_centerline[i];
                double delta = delta_step * i;
                current_position.x() = target_lane_pt.x() * delta + (1 - delta) * start_lane_pt.x();
                current_position.y() = target_lane_pt.y() * delta + (1 - delta) * start_lane_pt.y();
 
                centerline_points.push_back(current_position);
            }
 
            // Add points from the remaining length of the target lanelet to provide sufficient distance for adding buffer
            double dist_to_target_lane_end = lanelet::geometry::distance2d(centerline_points.back(), downsampled_target_centerline.back());
            centerline_points.insert(centerline_points.end(), downsampled_target_centerline.begin() + end_index_target_centerline, downsampled_target_centerline.end());
 
            // If the additional distance from the remaining length of the target lanelet does not provide more than the required
            // buffer_ending_downtrack, then also add points from the lanelet following the target lanelet
            if (dist_to_target_lane_end < buffer_ending_downtrack) {
                auto following_lanelets = wm->getMapRoutingGraph()->following(ending_lanelet, false);
                if(!following_lanelets.empty()){
                    //Arbitrarily choosing first following lanelet for buffer since points are only being used to fit spline
                    auto following_lanelet_centerline = following_lanelets.front().centerline2d().basicLineString();
                    centerline_points.insert(centerline_points.end(), following_lanelet_centerline.begin(),
                                                                                following_lanelet_centerline.end());
                }
            }
 
            return centerline_points;
        }

References BASIC_AUTONOMY_LOGGER, get_nearest_index_by_downtrack(), get_nearest_point_index(), process_bag::i, resample_linestring_pair_to_same_size(), and carma_cooperative_perception::to_string().

Referenced by get_lanechange_points_from_maneuver().

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◆ create_lanechange_path()

lanelet::BasicLineString2d basic_autonomy::waypoint_generation::create_lanechange_path	(	const lanelet::ConstLanelet &	start_lanelet,
		const lanelet::ConstLanelet &	end_lanelet
	)

Given a start and end point, create a vector of points fit through a spline between the points (using a Spline library)

Parameters

start_lanelet	The lanelet from which lane change starts
end_lanelet	The lanelet in which lane change ends

Returns: A linestring path from start to end fit through Spline Library

◆ create_lanefollow_geometry()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::create_lanefollow_geometry	(	const carma_planning_msgs::msg::Maneuver &	maneuver,
		double	max_starting_downtrack,
		const carma_wm::WorldModelConstPtr &	wm,
		const GeneralTrajConfig &	general_config,
		const DetailedTrajConfig &	detailed_config,
		std::unordered_set< lanelet::Id > &	visited_lanelets
	)

Converts a set of requested LANE_FOLLOWING maneuvers to point speed limit pairs.

Parameters

maneuvers	The list of maneuvers to convert geometry points and calculate associated speed
max_starting_downtrack	The maximum downtrack that is allowed for the first maneuver. This should be set to the vehicle position or earlier. If the first maneuver exceeds this then it's downtrack will be shifted to this value.
wm	Pointer to intialized world model for semantic map access
general_config	Basic autonomy struct defined to load general config parameters from tactical plugins
detailed_config	Basic autonomy struct defined to load detailed config parameters from tactical plugins

Returns: List of centerline points paired with speed limits

Definition at line 68 of file basic_autonomy.cpp.

        {
            if(maneuver.type != carma_planning_msgs::msg::Maneuver::LANE_FOLLOWING){
                throw std::invalid_argument("Create_lanefollow called on a maneuver type which is not LANE_FOLLOW");
            }
            std::vector<PointSpeedPair> points_and_target_speeds;
 
            carma_planning_msgs::msg::LaneFollowingManeuver lane_following_maneuver = maneuver.lane_following_maneuver;
 
            if (maneuver.lane_following_maneuver.lane_ids.empty())
            {
                throw std::invalid_argument("No lanelets are defined for lanefollow maneuver");
            }
 
            std::vector<lanelet::ConstLanelet> lanelets = { wm->getMap()->laneletLayer.get(stoi(lane_following_maneuver.lane_ids[0]))}; // Accept first lanelet reguardless
            for (size_t i = 1; i < lane_following_maneuver.lane_ids.size(); i++) // Iterate over remaining lanelets and check if they are followers of the previous lanelet
            {
                auto ll_id = lane_following_maneuver.lane_ids[i];
                int cur_id = stoi(ll_id);
                auto cur_ll = wm->getMap()->laneletLayer.get(cur_id);
                auto following_lanelets = wm->getMapRoutingGraph()->following(lanelets.back());
 
                bool is_follower = false;
                for (auto follower_ll : following_lanelets )
                {
                    if (follower_ll.id() == cur_ll.id())
                    {
                        is_follower = true;
                        break;
                    }
                }
 
                if (!is_follower)
                {
                    throw std::invalid_argument("Invalid list of lanelets they are not followers");
                }
 
                lanelets.push_back(cur_ll); // Keep lanelet
 
            }
 
            // Add extra lanelet to ensure there are sufficient points for buffer
            auto extra_following_lanelets = wm->getMapRoutingGraph()->following(lanelets.back());
 
            for (auto llt : wm->getRoute()->shortestPath())
            {
                for (size_t i = 0; i < extra_following_lanelets.size(); i++)
                {
                    if (llt.id() == extra_following_lanelets[i].id())
                    {
                        lanelets.push_back(extra_following_lanelets[i]);
                        break;
                    }
                }
            }
 
            if (lanelets.empty())
            {
                RCLCPP_ERROR_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Detected no lanelets between starting downtrack: "<< starting_downtrack << ", and lane_following_maneuver.end_dist: "<< lane_following_maneuver.end_dist);
                throw std::invalid_argument("Detected no lanelets between starting_downtrack and end_dist");
            }
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Maneuver");
 
            lanelet::BasicLineString2d downsampled_centerline;
            // 400 value here is an arbitrary attempt at improving inlane-cruising performance by reducing copy operations.
            // Value picked based on annecdotal evidence from STOL system testing
            downsampled_centerline.reserve(400);
 
            //getLaneletsBetween is inclusive of lanelets between its two boundaries
            //which may return lanechange lanelets, so
            //exclude lanechanges and plan for only the straight part
            size_t curr_idx = 0;
            auto following_lanelets = wm->getMapRoutingGraph()->following(lanelets[curr_idx]);
            lanelet::ConstLanelets straight_lanelets;
 
            if(lanelets.size() <= 1) //no lane change anyways if only size 1
            {
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Detected one straight lanelet Id:" << lanelets[curr_idx].id());
                straight_lanelets = lanelets;
            }
            else
            {
                // skip all lanechanges until lane follow starts
                while (curr_idx + 1 < lanelets.size() &&
                        std::find(following_lanelets.begin(),following_lanelets.end(), lanelets[curr_idx + 1]) == following_lanelets.end())
                {
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "As there were no directly following lanelets after this, skipping lanelet id: " << lanelets[curr_idx].id());
                    curr_idx ++;
                    following_lanelets = wm->getMapRoutingGraph()->following(lanelets[curr_idx]);
                }
 
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Added lanelet Id for lane follow: " << lanelets[curr_idx].id());
                // guaranteed to have at least one "straight" lanelet (e.g the last one in the list)
                straight_lanelets.push_back(lanelets[curr_idx]);
                      // add all lanelets on the straight road until next lanechange
                while (curr_idx + 1 < lanelets.size() &&
                        std::find(following_lanelets.begin(),following_lanelets.end(), lanelets[curr_idx + 1]) != following_lanelets.end())
                {
                    curr_idx++;
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Added lanelet Id forlane follow: " << lanelets[curr_idx].id());
                    straight_lanelets.push_back(lanelets[curr_idx]);
                    following_lanelets = wm->getMapRoutingGraph()->following(lanelets[curr_idx]);
                }
 
            }
 
            for (auto l : straight_lanelets)
            {
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Processing lanelet ID: " << l.id());
                if (visited_lanelets.find(l.id()) == visited_lanelets.end())
                {
 
                    bool is_turn = false;
                    if(l.hasAttribute("turn_direction")) {
                        std::string turn_direction = l.attribute("turn_direction").value();
                        is_turn = turn_direction.compare("left") == 0 || turn_direction.compare("right") == 0;
                    }
 
                    lanelet::BasicLineString2d centerline = l.centerline2d().basicLineString();
                    lanelet::BasicLineString2d downsampled_points;
                    if (is_turn) {
                        downsampled_points = carma_ros2_utils::containers::downsample_vector(centerline, general_config.turn_downsample_ratio);
                    } else {
                        downsampled_points = carma_ros2_utils::containers::downsample_vector(centerline, general_config.default_downsample_ratio);
                    }
 
                    if(downsampled_centerline.size() != 0 && downsampled_points.size() != 0 // If this is not the first lanelet and the points are closer than 1m drop the first point to prevent overlap
                    && lanelet::geometry::distance2d(downsampled_points.front(), downsampled_centerline.back()) <1.2){
                        downsampled_points = lanelet::BasicLineString2d(downsampled_points.begin() + 1, downsampled_points.end());
                    }
 
                    downsampled_centerline = carma_wm::geometry::concatenate_line_strings(downsampled_centerline, downsampled_points);
                    visited_lanelets.insert(l.id());
                }
            }
 
            bool first = true;
            for (auto p : downsampled_centerline)
            {
                if (first && !points_and_target_speeds.empty())
                {
                    first = false;
                    continue; // Skip the first point if we have already added points from a previous maneuver to avoid duplicates
                }
                PointSpeedPair pair;
                pair.point = p;
                pair.speed = lane_following_maneuver.end_speed;
                points_and_target_speeds.push_back(pair);
            }
 
            return points_and_target_speeds;
 
        }

References BASIC_AUTONOMY_LOGGER, carma_wm::geometry::concatenate_line_strings(), basic_autonomy::waypoint_generation::GeneralTrajConfig::default_downsample_ratio, process_bag::i, basic_autonomy::waypoint_generation::PointSpeedPair::point, basic_autonomy::waypoint_generation::PointSpeedPair::speed, and basic_autonomy::waypoint_generation::GeneralTrajConfig::turn_downsample_ratio.

Referenced by create_geometry_profile(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::createGeometryProfile().

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◆ create_route_geom()

std::vector< lanelet::BasicPoint2d > basic_autonomy::waypoint_generation::create_route_geom	(	double	starting_downtrack,
		int	starting_lane_id,
		double	ending_downtrack,
		const carma_wm::WorldModelConstPtr &	wm
	)

Creates a Lanelet2 Linestring from a vector or points along the geometry.

Parameters

starting_downtrack	downtrack along route where maneuver starts
ending_downtrack	downtrack along route where maneuver starts
wm	Pointer to intialized world model for semantic map access

Returns: Points in a path from starting downtrack to ending downtrack

◆ get_lanechange_points_from_maneuver()

std::vector< PointSpeedPair > basic_autonomy::waypoint_generation::get_lanechange_points_from_maneuver	(	const carma_planning_msgs::msg::Maneuver &	maneuver,
		double	max_starting_downtrack,
		const carma_wm::WorldModelConstPtr &	wm,
		carma_planning_msgs::msg::VehicleState &	ending_state_before_buffer,
		const carma_planning_msgs::msg::VehicleState &	state,
		const GeneralTrajConfig &	general_config,
		const DetailedTrajConfig &	detailed_config
	)

Converts a set of requested LANE_CHANGE maneuvers to point speed limit pairs.

Parameters

maneuvers	The list of maneuvers to convert
max_starting_downtrack	The maximum downtrack that is allowed for the first maneuver. This should be set to the vehicle position or earlier. If the first maneuver exceeds this then it's downtrack will be shifted to this value.
wm	Pointer to intialized world model for semantic map access
ending_state_before_buffer	reference to Vehicle state, which is state before applying extra points for curvature calculation that are removed later
state	The vehicle state at the time the function is called
general_config	Basic autonomy struct defined to load general config parameters from tactical plugins
detailed_config	Basic autonomy struct defined to load detailed config parameters from tactical plugins

Returns: A vector of point speed pair struct which contains geometry points as basicpoint::lanelet2d and speed as a double for the maneuver

Definition at line 544 of file basic_autonomy.cpp.

        {
            if(maneuver.type != carma_planning_msgs::msg::Maneuver::LANE_CHANGE){
                throw std::invalid_argument("Create_lanechange called on a maneuver type which is not LANE_CHANGE");
            }
            std::vector<PointSpeedPair> points_and_target_speeds;
            std::unordered_set<lanelet::Id> visited_lanelets;
 
            carma_planning_msgs::msg::LaneChangeManeuver lane_change_maneuver = maneuver.lane_change_maneuver;
            double ending_downtrack = lane_change_maneuver.end_dist;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Maneuver ending downtrack:"<<ending_downtrack);
            if(starting_downtrack >= ending_downtrack)
            {
                throw(std::invalid_argument("Start distance is greater than or equal to ending distance"));
            }
 
            //get route between starting and ending downtracks - downtracks should be constant for complete length of maneuver
            std::vector<lanelet::BasicPoint2d> route_geometry = create_lanechange_geometry(std::stoi(lane_change_maneuver.starting_lane_id),std::stoi(lane_change_maneuver.ending_lane_id),
                                                                                        starting_downtrack, ending_downtrack, wm, general_config.default_downsample_ratio, detailed_config.buffer_ending_downtrack);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Route geometry size:"<<route_geometry.size());
 
            lanelet::BasicPoint2d state_pos(state.x_pos_global, state.y_pos_global);
            double current_downtrack = wm->routeTrackPos(state_pos).downtrack;
            int nearest_pt_index = get_nearest_index_by_downtrack(route_geometry, wm, current_downtrack);
            int ending_pt_index = get_nearest_index_by_downtrack(route_geometry, wm, ending_downtrack);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Nearest pt index in maneuvers to points: "<< nearest_pt_index);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Ending pt index in maneuvers to points: "<< ending_pt_index);
 
            ending_state_before_buffer.x_pos_global = route_geometry[ending_pt_index].x();
            ending_state_before_buffer.y_pos_global = route_geometry[ending_pt_index].y();
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "ending_state_before_buffer_:"<<ending_state_before_buffer.x_pos_global <<
                    ", ending_state_before_buffer_.y_pos_global" << ending_state_before_buffer.y_pos_global);
 
 
            double route_length = wm->getRouteEndTrackPos().downtrack;
 
            if (ending_downtrack + detailed_config.buffer_ending_downtrack < route_length)
            {
                ending_pt_index = get_nearest_index_by_downtrack(route_geometry, wm, ending_downtrack + detailed_config.buffer_ending_downtrack);
            }
            else
            {
                ending_pt_index = route_geometry.size() - 1;
            }
 
            lanelet::BasicLineString2d future_route_geometry(route_geometry.begin() + nearest_pt_index, route_geometry.begin() + ending_pt_index);
            bool first = true;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Future geom size:"<< future_route_geometry.size());
 
            for (auto p : future_route_geometry)
            {
                if (first && !points_and_target_speeds.empty())
                {
                    first = false;
                    continue; // Skip the first point if we have already added points from a previous maneuver to avoid duplicates
                }
                PointSpeedPair pair;
                pair.point = p;
                //If current speed is above min speed, keep at current speed. Otherwise use end speed from maneuver.
                pair.speed = (state.longitudinal_vel > detailed_config.minimum_speed) ? state.longitudinal_vel : lane_change_maneuver.end_speed;
                points_and_target_speeds.push_back(pair);
 
            }
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Const speed assigned:"<<points_and_target_speeds.back().speed);
            return points_and_target_speeds;
 
 
        }

References BASIC_AUTONOMY_LOGGER, basic_autonomy::waypoint_generation::DetailedTrajConfig::buffer_ending_downtrack, create_lanechange_geometry(), basic_autonomy::waypoint_generation::GeneralTrajConfig::default_downsample_ratio, get_nearest_index_by_downtrack(), basic_autonomy::waypoint_generation::DetailedTrajConfig::minimum_speed, basic_autonomy::waypoint_generation::PointSpeedPair::point, and basic_autonomy::waypoint_generation::PointSpeedPair::speed.

Referenced by create_geometry_profile().

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◆ get_nearest_index_by_downtrack() [1/3]

int basic_autonomy::waypoint_generation::get_nearest_index_by_downtrack	(	const std::vector< lanelet::BasicPoint2d > &	points,
		const carma_wm::WorldModelConstPtr &	wm,
		const carma_planning_msgs::msg::VehicleState &	state
	)

Overload: Returns the nearest point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point if the given state, despite being valid, is farther than the given points and can technically be near any of them.

Parameters

points	The points to evaluate
state	The current vehicle state
wm	The carma world model

Returns: index of nearest point in points

Definition at line 117 of file helper_functions.cpp.

    {
        lanelet::BasicPoint2d state_pos(state.x_pos_global, state.y_pos_global);
        double ending_downtrack = wm->routeTrackPos(state_pos).downtrack;
        return get_nearest_index_by_downtrack(points, wm, ending_downtrack);
    }

References get_nearest_index_by_downtrack().

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◆ get_nearest_index_by_downtrack() [2/3]

int basic_autonomy::waypoint_generation::get_nearest_index_by_downtrack	(	const std::vector< lanelet::BasicPoint2d > &	points,
		const carma_wm::WorldModelConstPtr &	wm,
		double	target_downtrack
	)

Returns the nearest "less than" point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point's index if the given state, despite being valid, is farther than the given points and can technically be near any of them.

Parameters

points	BasicLineString2d points
target_downtrack	target downtrack along the route to get index near to

Returns: index of nearest point in points with a downtrack less than 'target_downtrack', or -1 if the received 'points' vector is empty.

Definition at line 66 of file helper_functions.cpp.

    {
        if(std::empty(points)){
            RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Empty points vector received, returning -1");
            return -1;
        }
 
        // Find first point with a downtrack greater than target_downtrack
        const auto itr = std::find_if(std::cbegin(points), std::cend(points), 
            [&wm = std::as_const(wm), target_downtrack](const auto & point) { return wm->routeTrackPos(point).downtrack > target_downtrack; });
 
        int best_index = std::size(points) - 1;
 
        // Set best_index to the last point with a downtrack less than target_downtrack
        if(itr != std::cbegin(points)){
            best_index = std::distance(std::cbegin(points), std::prev(itr));
        }
        else{
            best_index = 0;
        }
 
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "get_nearest_index_by_downtrack>> Found best_index: " << best_index<<", points[i].x(): " << points.at(best_index).x() << ", points[i].y(): " << points.at(best_index).y());
        
        return best_index;
    }

References BASIC_AUTONOMY_LOGGER, and process_traj_logs::point.

Referenced by compose_lanechange_trajectory_from_path(), compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline(), create_lanechange_geometry(), get_lanechange_points_from_maneuver(), and get_nearest_index_by_downtrack().

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◆ get_nearest_index_by_downtrack() [3/3]

int basic_autonomy::waypoint_generation::get_nearest_index_by_downtrack	(	const std::vector< PointSpeedPair > &	points,
		const carma_wm::WorldModelConstPtr &	wm,
		const carma_planning_msgs::msg::VehicleState &	state
	)

Overload: Returns the nearest point to the provided vehicle pose in the provided list by utilizing the downtrack measured along the route NOTE: This function compares the downtrack, provided by routeTrackPos, of each points in the list to get the closest one to the given point's downtrack. Therefore, it is rather costlier method than comparing cartesian distance between the points and getting the closest. This way, however, the function correctly returns the end point's index if the given state, despite being valid, is farther than the given points and can technically be near any of them.

Parameters

points	The points and speed pairs to evaluate
state	The current vehicle state
wm	The carma world model

Returns: index of nearest point in points

Definition at line 106 of file helper_functions.cpp.

    {
        lanelet::BasicPoint2d state_pos(state.x_pos_global, state.y_pos_global);
        double ending_downtrack = wm->routeTrackPos(state_pos).downtrack;
        std::vector<lanelet::BasicPoint2d> basic_points;
        std::vector<double> speeds;
        split_point_speed_pairs(points, &basic_points, &speeds);
        return get_nearest_index_by_downtrack(basic_points, wm, ending_downtrack);
    }

References get_nearest_index_by_downtrack(), and split_point_speed_pairs().

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◆ get_nearest_point_index() [1/2]

int basic_autonomy::waypoint_generation::get_nearest_point_index	(	const std::vector< lanelet::BasicPoint2d > &	points,
		const carma_planning_msgs::msg::VehicleState &	state
	)

Returns the nearest point (in terms of cartesian 2d distance) to the provided vehicle pose in the provided l.

Parameters

points	The points to evaluate
state	The current vehicle state

Returns: index of nearest point in points

Definition at line 25 of file helper_functions.cpp.

    {
        lanelet::BasicPoint2d veh_point(state.x_pos_global, state.y_pos_global);
        double min_distance = std::numeric_limits<double>::max();
        int i = 0;
        int best_index = 0;
        for (const auto& p : points)
        {
            double distance = lanelet::geometry::distance2d(p, veh_point);
            if (distance < min_distance)
            {
                best_index = i;
                min_distance = distance;
            }
            i++;
        }
        return best_index;
    }

References process_bag::i.

Referenced by compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline(), and create_lanechange_geometry().

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◆ get_nearest_point_index() [2/2]

int basic_autonomy::waypoint_generation::get_nearest_point_index	(	const std::vector< PointSpeedPair > &	points,
		const carma_planning_msgs::msg::VehicleState &	state
	)

Returns the nearest point (in terms of cartesian 2d distance) to the provided vehicle pose in the provided list.

Parameters

points	The points to evaluate
state	The current vehicle state

Returns: index of nearest point in points

Definition at line 45 of file helper_functions.cpp.

    {
        lanelet::BasicPoint2d veh_point(state.x_pos_global, state.y_pos_global);
        RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "veh_point: " << veh_point.x() << ", " << veh_point.y());
        double min_distance = std::numeric_limits<double>::max();
        int i = 0;
        int best_index = 0;
        for (const auto& p : points)
        {
            double distance = lanelet::geometry::distance2d(p.point, veh_point);
            if (distance < min_distance)
            {
            best_index = i;
            min_distance = distance;
            }
            i++;
        }
        return best_index;
    }

References BASIC_AUTONOMY_LOGGER, and process_bag::i.

◆ is_valid_yield_plan()

bool basic_autonomy::waypoint_generation::is_valid_yield_plan	(	const std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > &	node_handler,
		const carma_planning_msgs::msg::TrajectoryPlan &	yield_plan
	)

Helper function to verify if the input yield trajectory plan is valid.

Parameters

node_handler	node of which time to compare against the trajectory's time
yield_plan	input yield trajectory plan

Returns: true or false

Definition at line 1316 of file basic_autonomy.cpp.

        {
            if (yield_plan.trajectory_points.size() < 2)
            {
                RCLCPP_WARN(node_handler->get_logger(), "Invalid Yield Trajectory");
            }
 
            RCLCPP_DEBUG_STREAM(node_handler->get_logger(), "Yield Trajectory Time" << rclcpp::Time(yield_plan.trajectory_points[0].target_time).seconds());
            RCLCPP_DEBUG_STREAM(node_handler->get_logger(), "Now:" << node_handler->now().seconds());
 
            if (rclcpp::Time(yield_plan.trajectory_points[0].target_time) + rclcpp::Duration(5.0, 0) > node_handler->now())
            {
                return true;
            }
            else
            {
                RCLCPP_DEBUG(node_handler->get_logger(), "Old Yield Trajectory");
            }
 
            return false;
        }

Referenced by modify_trajectory_to_yield_to_obstacles().

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◆ min_with_exclusions()

std::pair< double, size_t > basic_autonomy::waypoint_generation::min_with_exclusions	(	const std::vector< double > &	values,
		const std::unordered_set< size_t > &	excluded
	)

Returns the min, and its idx, from the vector of values, excluding given set of values.

Parameters

values	vector of values
excluded	set of excluded values

Returns: minimum value and its idx

Definition at line 679 of file basic_autonomy.cpp.

        {
            double min = std::numeric_limits<double>::max();
            size_t best_idx = -1;
            for (size_t i = 0; i < values.size(); i++)
            {
                if (excluded.find(i) != excluded.end())
                {
                    continue;
                }
 
                if (values[i] < min)
                {
                    min = values[i];
                    best_idx = i;
                }
            }
            return std::make_pair(min, best_idx);
        }

References process_bag::i.

Referenced by optimize_speed().

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◆ modify_trajectory_to_yield_to_obstacles()

carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr basic_autonomy::waypoint_generation::modify_trajectory_to_yield_to_obstacles	(	const std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > &	node_handler,
		const carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr &	req,
		const carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr &	resp,
		const carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory > &	yield_client,
		int	yield_plugin_service_call_timeout
	)

Applies a yield trajectory to the original trajectory set in response.

Parameters

node_handler	a node interface to use the logger and time
req	The service request containing the maneuvers to plan trajectories for and current vehicle state
resp	The original response containing the planned trajectory to be modified
yield_client	yield_client to call for
yield_plugin_service_call_timeout	yield client's timeout in milliseconds int

Returns: The original response modified to contain the modified planned trajectory

Definition at line 1338 of file basic_autonomy.cpp.

        {
            RCLCPP_DEBUG(node_handler->get_logger(), "Activate Object Avoidance");
 
            if (!yield_client || !yield_client->service_is_ready())
            {
                throw std::runtime_error("Yield Client is not set or unavailable after configuration state of lifecycle");
            }
 
            RCLCPP_DEBUG(node_handler->get_logger(), "Yield Client is valid");
 
            auto yield_srv = std::make_shared<carma_planning_msgs::srv::PlanTrajectory::Request>();
            yield_srv->initial_trajectory_plan = resp->trajectory_plan;
            yield_srv->vehicle_state = req->vehicle_state;
 
            auto yield_resp = yield_client->async_send_request(yield_srv);
 
            auto future_status = yield_resp.wait_for(std::chrono::milliseconds(yield_plugin_service_call_timeout));
 
            if (future_status != std::future_status::ready)
            {
                // Sometimes the yield plugin's service call may be unsuccessful due to its computationally expensive logic.
                // However, consecutive calls can be successful, so return original trajectory for now
                RCLCPP_WARN(node_handler->get_logger(), "Service request to yield plugin timed out waiting on a reply from the service server");
                return resp;
            }
 
            RCLCPP_DEBUG(node_handler->get_logger(), "Received Traj from Yield");
            carma_planning_msgs::msg::TrajectoryPlan yield_plan = yield_resp.get()->trajectory_plan;
            if (is_valid_yield_plan(node_handler, yield_plan))
            {
                RCLCPP_DEBUG(node_handler->get_logger(), "Yield trajectory validated");
                resp->trajectory_plan = yield_plan;
            }
            else
            {
                throw std::invalid_argument("Invalid Yield Trajectory");
            }
 
            return resp;
        }

References is_valid_yield_plan().

Referenced by inlanecruising_plugin::InLaneCruisingPlugin::plan_trajectory_callback(), stop_and_wait_plugin::StopandWait::plan_trajectory_cb(), and light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin::planTrajectoryCB().

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◆ optimize_speed()

std::vector< double > basic_autonomy::waypoint_generation::optimize_speed	(	const std::vector< double > &	downtracks,
		const std::vector< double > &	curv_speeds,
		double	accel_limit
	)

Applies the longitudinal acceleration limit to each point's speed.

Parameters

downtracks	downtrack distances corresponding to each speed
curv_speeds	vehicle velocity in m/s.
accel_limit	vehicle longitudinal acceleration in m/s^2.

Returns: optimized speeds for each dowtrack points that satisfies longitudinal acceleration

Definition at line 699 of file basic_autonomy.cpp.

        {
            if (downtracks.size() != curv_speeds.size())
            {
                throw std::invalid_argument("Downtracks and speeds do not have the same size");
            }
 
            if (accel_limit <= 0)
            {
                throw std::invalid_argument("Accel limits should be positive");
            }
 
            bool optimize = true;
            std::unordered_set<size_t> visited_idx;
            visited_idx.reserve(curv_speeds.size());
 
            std::vector<double> output = curv_speeds;
 
            while (optimize)
            {
                auto min_pair = min_with_exclusions(curv_speeds, visited_idx);
                int min_idx = std::get<1>(min_pair);
                if (min_idx == -1)
                {
                    break;
                }
 
                visited_idx.insert(min_idx); // Mark this point as visited
 
                double v_i = std::get<0>(min_pair);
                double x_i = downtracks[min_idx];
                for (int i = min_idx - 1; i > 0; i--)
                {   // NOTE: Do not use size_t for i type here as -- with > 0 will result in overflow
                    //       First point's speed is left unchanged as it is current speed of the vehicle
                    double v_f = curv_speeds[i];
                    double dv = v_f - v_i;
 
                    double x_f = downtracks[i];
                    double dx = x_f - x_i;
 
                    if (dv > 0)
                    {
                        v_f = std::min(v_f, sqrt(v_i * v_i - 2 * accel_limit * dx)); // inverting accel as we are only visiting deceleration case
                        visited_idx.insert(i);
                    }
                    else if (dv < 0)
                    {
                        break;
                    }
                    output[i] = v_f;
                    v_i = v_f;
                    x_i = x_f;
                }
            }
 
            log::printDoublesPerLineWithPrefix("only_reverse[i]: ", output);
 
            output = trajectory_utils::apply_accel_limits_by_distance(downtracks, output, accel_limit, accel_limit);
            log::printDoublesPerLineWithPrefix("after_forward[i]: ", output);
 
            return output;
        }

References process_bag::i, min_with_exclusions(), and basic_autonomy::log::printDoublesPerLineWithPrefix().

Referenced by compose_lanefollow_trajectory_from_path().

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◆ process_trajectory_plan()

autoware_auto_msgs::msg::Trajectory basic_autonomy::waypoint_generation::process_trajectory_plan	(	const carma_planning_msgs::msg::TrajectoryPlan &	tp,
		double	vehicle_response_lag
	)

Given a carma type of trajectory_plan, generate autoware type of trajectory accounting for speed_lag and stopping case Generated trajectory is meant to be used in autoware.auto's pure_pursuit library using set_trajectory() function.

Parameters

tp	trajectory plan from tactical plugins

Returns: trajectory plan of autoware_auto_msgs type

Definition at line 1196 of file basic_autonomy.cpp.

        {
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Processing latest TrajectoryPlan message");
 
            std::vector<double> times;
            std::vector<double> downtracks;
 
            std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> trajectory_points = tp.trajectory_points;
 
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Original Trajectory size:"<<trajectory_points.size());
 
 
            trajectory_utils::conversions::trajectory_to_downtrack_time(trajectory_points, &downtracks, &times);
 
            //detect stopping case
            size_t stopping_index = 0;
            for (size_t i = 1; i < times.size(); i++)
            {
                if (times[i] == times[i - 1]) //if exactly same, it is stopping case
                {
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Detected a stopping case where times is exactly equal: " << times[i-1]);
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "And index of that is: " << i << ", where size is: " << times.size());
                    stopping_index = i;
                    break;
                }
            }
 
            std::vector<double> speeds;
            try
            {
                trajectory_utils::conversions::time_to_speed(downtracks, times, tp.initial_longitudinal_velocity, &speeds);
            }
            catch(const std::runtime_error& error)
            {
                // This can only happen if there was negative speed in trajectory generation which usually happens when intending to stop.
                // The plugin is catching that error and logging it for the user to correct the origin plugin's logic, but continues
                // the operation by forcing the negative values to be 0, which is the intention usually.
                RCLCPP_WARN_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Detected a negative speed from <point,time> to <point,speed> trajectory conversion with error: "
                    << error.what() << ". Replacing the negative speed with 0.0 speed, but please revisit the trajectory logic. "
                    "Responsible plugin is: " << trajectory_points[std::find(speeds.begin(), speeds.end(), 0.0) - speeds.begin()].planner_plugin_name);
            }
 
            if (speeds.size() != trajectory_points.size())
            {
                throw std::invalid_argument("Speeds and trajectory points sizes do not match");
            }
 
            for (size_t i = 0; i < speeds.size(); i++) { // Ensure 0 is min speed
                if (stopping_index != 0 && i >= stopping_index - 1)
                {
                    RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Made it to 0, i: " << i);
 
                    speeds[i] = 0.0;  //stopping case
                }
                else
                {
                    speeds[i] = std::max(0.0, speeds[i]);
                }
            }
 
            std::vector<double> lag_speeds;
            lag_speeds = apply_response_lag(speeds, downtracks, vehicle_response_lag); // This call requires that the first speed point be current speed to work as expected
 
            autoware_auto_msgs::msg::Trajectory autoware_trajectory;
            autoware_trajectory.header = tp.header;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "size: " << trajectory_points.size());
 
            auto max_size = std::min(99, (int)trajectory_points.size());  //NOTE: more than this size autoware auto raises exception with "Exceeded upper bound while in ACTIVE state."
                                                                            //large portion of the points are not needed anyways
            for (int i = 0; i < max_size; i++)
            {
                autoware_auto_msgs::msg::TrajectoryPoint autoware_point;
 
                autoware_point.x = trajectory_points[i].x;
                autoware_point.y = trajectory_points[i].y;
                autoware_point.longitudinal_velocity_mps = lag_speeds[i];
                double yaw = 0.0;
                if (i< max_size-1)
                {
                    yaw = std::atan2(trajectory_points[i+1].y - trajectory_points[i].y, trajectory_points[i+1].x - trajectory_points[i].x);
 
                }
                else
                {
                    yaw = std::atan2(trajectory_points[max_size-1].y - trajectory_points[max_size-2].y, trajectory_points[max_size-1].x - trajectory_points[max_size-2].x);
                    // last point in the trajectory will have yaw value of its previous point to avoid sudden steering in some conditions
                }
                autoware_point.heading.real = std::cos(yaw/2);
                autoware_point.heading.imag = std::sin(yaw/2);
 
                autoware_point.time_from_start = rclcpp::Duration(times[i] * 1e9);
                RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Setting waypoint idx: " << i <<", with planner: << " << trajectory_points[i].planner_plugin_name << ", x: " << trajectory_points[i].x <<
                                        ", y: " << trajectory_points[i].y <<
                                        ", speed: " << lag_speeds[i]* 2.23694 << "mph");
                autoware_trajectory.points.push_back(autoware_point);
            }
 
            return autoware_trajectory;
        }

References apply_response_lag(), BASIC_AUTONOMY_LOGGER, process_bag::i, process_traj_logs::x, and process_traj_logs::y.

Referenced by trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::autoware_info_timer_callback(), pure_pursuit_wrapper::PurePursuitWrapperNode::generate_command(), and platooning_control::PlatooningControlPlugin::generate_control_signals().

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◆ resample_linestring_pair_to_same_size()

std::vector< std::vector< lanelet::BasicPoint2d > > basic_autonomy::waypoint_generation::resample_linestring_pair_to_same_size	(	std::vector< lanelet::BasicPoint2d > &	line_1,
		std::vector< lanelet::BasicPoint2d > &	line_2
	)

Resamples a pair of basicpoint2d lines to get lines of same number of points.

Parameters

line_1	a vector of points to be resampled
line_2	a vector of points to be resampled

Returns: A 2d vector with input lines resampled at same rate. The first iteration is the resampled line_1 and the resampled line_2 is the second iteration Assumption here is for lane change to happen between two adjacent lanelets, they must share a lane boundary (linestring)

Definition at line 482 of file basic_autonomy.cpp.

                                                                                                                                                                      {
 
            auto start_time = std::chrono::high_resolution_clock::now(); // Start timing the execution time for planning so it can be logged
 
            std::vector<std::vector<lanelet::BasicPoint2d>> output;
 
            //Fit centerlines to a spline
            std::unique_ptr<smoothing::SplineI> fit_curve_1 = compute_fit(line_1); // Compute splines based on curve points
            if (!fit_curve_1)
            {
                throw std::invalid_argument("Could not fit a spline curve along the starting_lane centerline points!");
            }
 
            std::unique_ptr<smoothing::SplineI> fit_curve_2 = compute_fit(line_2); // Compute splines based on curve points
            if (!fit_curve_2)
            {
                throw std::invalid_argument("Could not fit a spline curve along the ending_lane centerline points!");
            }
 
            //Sample spline to get centerlines of equal size
            std::vector<lanelet::BasicPoint2d> all_sampling_points_line1;
            std::vector<lanelet::BasicPoint2d> all_sampling_points_line2;
 
            size_t total_point_size = std::min(line_1.size(), line_2.size());
 
            all_sampling_points_line1.reserve(1 + total_point_size * 2);
            std::vector<double> downtracks_raw_line1 = carma_wm::geometry::compute_arc_lengths(line_1);
            //int total_step_along_curve1 = static_cast<int>(downtracks_raw_line1.back() / 2.0);
            //double step_threshold_line1 = (double)total_step_along_curve1 / (double)total_point_size;
            //TODO: are we missing some computation here?  step_threshold_line1 and step_threshold_line2 are not used anywhere
            //      and these calcs can be deleted (see below also).
 
            all_sampling_points_line2.reserve(1 + total_point_size * 2);
            std::vector<double> downtracks_raw_line2 = carma_wm::geometry::compute_arc_lengths(line_2);
            //TODO: unused variable: int total_step_along_curve2 = static_cast<int>(downtracks_raw_line2.back() / 2.0);
            //TODO: unused variable: double step_threshold_line2 = (double)total_step_along_curve2 / (double)total_point_size;
 
            double scaled_steps_along_curve = 0.0; // from 0 (start) to 1 (end) for the whole trajectory
 
 
            all_sampling_points_line2.reserve(1 + total_point_size * 2);
 
            for(size_t i = 0;i<total_point_size; ++i){
                lanelet::BasicPoint2d p1 = (*fit_curve_1)(scaled_steps_along_curve);
                lanelet::BasicPoint2d p2 = (*fit_curve_2)(scaled_steps_along_curve);
                all_sampling_points_line1.push_back(p1);
                all_sampling_points_line2.push_back(p2);
 
                scaled_steps_along_curve += 1.0 / total_point_size;  //adding steps_along_curve_step_size
            }
 
            output.push_back(all_sampling_points_line1);
            output.push_back(all_sampling_points_line2);
 
            auto end_time = std::chrono::high_resolution_clock::now();
 
            auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "ExecutionTime for resample lane change centerlines: " << duration.count() << " milliseconds");
 
            return output;
        }

References BASIC_AUTONOMY_LOGGER, carma_wm::geometry::compute_arc_lengths(), compute_fit(), and process_bag::i.

Referenced by create_lanechange_geometry().

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◆ split_point_speed_pairs()

void basic_autonomy::waypoint_generation::split_point_speed_pairs	(	const std::vector< PointSpeedPair > &	points,
		std::vector< lanelet::BasicPoint2d > *	basic_points,
		std::vector< double > *	speeds
	)

Helper method to split a list of PointSpeedPair into separate point and speed lists.

Parameters

points	Point Speed pair to split
basic_points	points vector to be filled
speeds	speeds vector to be filled

Definition at line 92 of file helper_functions.cpp.

    {
        basic_points->reserve(points.size());
        speeds->reserve(points.size());
 
        for (const auto& p : points)
        {
            basic_points->push_back(p.point);
            speeds->push_back(p.speed);
        }
    }

Referenced by compose_lanechange_trajectory_from_path(), compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline(), constrain_to_time_boundary(), and get_nearest_index_by_downtrack().

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◆ trajectory_from_points_times_orientations()

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint > basic_autonomy::waypoint_generation::trajectory_from_points_times_orientations	(	const std::vector< lanelet::BasicPoint2d > &	points,
		const std::vector< double > &	times,
		const std::vector< double > &	yaws,
		rclcpp::Time	startTime,
		const std::string &	desired_controller_plugin
	)

Method combines input points, times, orientations, and an absolute start time to form a valid carma platform trajectory.

NOTE: All input vectors must be the same size. The output vector will take this size.

Parameters

points	The points in the map frame that the trajectory will follow. Units m
times	The times which at the vehicle should arrive at the specified points. First point should have a value of 0. Units s
yaws	The orientation the vehicle should achieve at each point. Units radians
startTime	The absolute start time which will be used to update the input relative times. Units s
desired_controller_plugin	The name of the controller plugin for the generated trajectory.

Returns: A list of trajectory points built from the provided inputs.

Definition at line 762 of file basic_autonomy.cpp.

        {
            if (points.size() != times.size() || points.size() != yaws.size())
            {
                throw std::invalid_argument("All input vectors must have the same size");
            }
 
            std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> traj;
            traj.reserve(points.size());
 
            for (size_t i = 0; i < points.size(); i++)
            {
                carma_planning_msgs::msg::TrajectoryPlanPoint tpp;
                rclcpp::Duration relative_time(times[i] * 1e9); // Conversion of times[i] from seconds to nanoseconds
                tpp.target_time = startTime + relative_time;
                tpp.x = points[i].x();
                tpp.y = points[i].y();
                tpp.yaw = yaws[i];
 
                tpp.controller_plugin_name = desired_controller_plugin;
                //tpp.planner_plugin_name        //Planner plugin name is filled in the tactical plugin
 
                traj.push_back(tpp);
            }
 
            return traj;
        }

References process_bag::i.

Referenced by compose_lanechange_trajectory_from_path(), compose_lanefollow_trajectory_from_path(), and stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin::compose_trajectory_from_centerline().

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Variable Documentation

◆ BASIC_AUTONOMY_LOGGER

const std::string basic_autonomy::waypoint_generation::BASIC_AUTONOMY_LOGGER = "basic_autonomy"

static

Definition at line 62 of file basic_autonomy.hpp.

Referenced by add_lanefollow_buffer(), apply_speed_limits(), compose_lanechange_trajectory_from_path(), compose_lanefollow_trajectory_from_path(), compute_fit(), constrain_to_time_boundary(), create_geometry_profile(), create_lanechange_geometry(), create_lanefollow_geometry(), get_lanechange_points_from_maneuver(), get_nearest_index_by_downtrack(), get_nearest_point_index(), process_trajectory_plan(), and resample_linestring_pair_to_same_size().

◆ epsilon_

const double basic_autonomy::waypoint_generation::epsilon_ = 0.0000001

Definition at line 24 of file helper_functions.hpp.

Referenced by add_lanefollow_buffer().

Classes

Functions

Variables

Function Documentation

◆ add_lanefollow_buffer()

◆ apply_response_lag()

◆ apply_speed_limits()

◆ attach_past_points()

◆ compose_detailed_trajectory_config()

◆ compose_general_trajectory_config()

◆ compose_lanechange_trajectory_from_path()

◆ compose_lanefollow_trajectory_from_path()

◆ compute_curvature_at()

◆ compute_fit()

◆ compute_heading_frame()

◆ constrain_to_time_boundary()

◆ create_geometry_profile()

◆ create_lanechange_geometry()

◆ create_lanechange_path()

◆ create_lanefollow_geometry()

◆ create_route_geom()

◆ get_lanechange_points_from_maneuver()

◆ get_nearest_index_by_downtrack() [1/3]

◆ get_nearest_index_by_downtrack() [2/3]

◆ get_nearest_index_by_downtrack() [3/3]

◆ get_nearest_point_index() [1/2]

◆ get_nearest_point_index() [2/2]

◆ is_valid_yield_plan()

◆ min_with_exclusions()

◆ modify_trajectory_to_yield_to_obstacles()

◆ optimize_speed()

◆ process_trajectory_plan()

◆ resample_linestring_pair_to_same_size()

◆ split_point_speed_pairs()

◆ trajectory_from_points_times_orientations()

Variable Documentation

◆ BASIC_AUTONOMY_LOGGER

◆ epsilon_