Autoware-wayPoint_follower解析

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//创建waypoint_follower实例

waypoint_follower::PurePursuitNode ppn;

//执行构造函数pure puresuit_core中构造函数

PurePursuitNode::PurePursuitNode()
: private_nh_("~")
, pp_()
, LOOP_RATE_(30)
, is_waypoint_set_(false)
, is_pose_set_(false)
, is_velocity_set_(false)
, is_config_set_(false)
, current_linear_velocity_(0)
, command_linear_velocity_(0)
, param_flag_(-1)
, const_lookahead_distance_(4.0)
, const_velocity_(5.0)
, lookahead_distance_ratio_(2.0)
, minimum_lookahead_distance_(6.0)
{
initForROS();

// initialize for PurePursuit
pp_.setLinearInterpolationParameter(is_linear_interpolation_);
}

//运行ros

ppn.run();

//run函数中的computeLookaheadDistance函数

//最大前向距离为当前速度乘以10

double maximum_lookahead_distance = current_linear_velocity_ * 10;

double ld = current_linear_velocity_ * lookahead_distance_ratio_;

return ld < minimum_lookahead_distance_ ? minimum_lookahead_distance_
: ld > maximum_lookahead_distance ? maximum_lookahead_distance
: ld;

PurePursuit 类解析

函数计算车的曲率

double PurePursuit::calcCurvature(geometry_msgs::Point target) const

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