自动驾驶云服务 OCTOPUS-pose_3d

时间:2024-05-11 16:52:46

pose_3d

  • 定义:三维空间的复合位置,包含位置点(odr_point或position_3d或road_point)和方向(orientation_3d)两个参数
  • 用途:设置实体的初始位置(assign_init_speed动作)、目标位置(acquire_position动作)
  • 参数:参数如下表.
表1 pose_3d参数

Parameter

Type

Mandatory

Description

xyz_point

xyz_point

no

a pose in space specified in Cartesian (XYZ) coordinates.

odr_point

odr_point

no

a point expressed in ASAM OpenDRIVE coordinates.

road_point

road_point

no

a point on route network specified in S-T coordinates.

orientation

orientation_3d

no

three-dimensional orientation

  • xyz_point、odr_point和road_point必须设置且仅设置一个,用以提供位置信息.
  • orientation非必选项,当不设置orientation时,对应roll、pitch、yaw均为0时的方向

使用xyz_point、设置orientation

my_xyz: xyz_point = map.create_xyz_point(x: 150.0m, y: 200.0m ,z: 0.0m)
m_orientation: orientation_3d with:
    keep(it.roll == 0.0rad)
    keep(it.pitch == 0.0rad)        
    keep(it.yaw == 1.57rad)
my_pose: pose_3d with:
    keep(it.xyz_point == my_xyz)
    keep(it.orientation == m_orientation)

使用odr_point、不设置orientation

my_odr: odr_point = map.create_odr_point(road_id: '1',lane_id:'-2',s: 3.0m, t: 0.0m)
my_pose: pose_3d with:
    keep(it.odr_point == my_odr)

使用road_point不设置orientation

my_road: road_point with
    keep(it.road_id == '1')
    keep(it.s == 5.0m)
    keep(it.t == 0.0m)
my_pose: pose_3d with:
    keep(it.road_point == my_road)
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