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feat: reflect the review discussions #260

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Nov 29, 2022
Merged

feat: reflect the review discussions #260

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df6b510
feat: change planning factor pose to base link
isamu-takagi Nov 29, 2022
a13dea4
feat: change enumeration policy
isamu-takagi Nov 29, 2022
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6 changes: 3 additions & 3 deletions docs/design/autoware-interfaces/ad-api/list/api/planning/index.md
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Expand Up @@ -11,10 +11,10 @@ Applications can notify the vehicle behavior to the people around and visualize
## Velocity factors

The velocity factors is an array of information on the behavior that the vehicle stops (or slows down).
Each factor has a type shown below, pose, distance from the vehicle head to that pose, status, and detailed data depending on its type.
Each factor has a type shown below, pose in the base link, distance, status, and detailed data depending on its type.
As the vehicle approaches the stop position, this factor appears with a status of APPROACHING.
And when the vehicle reaches that position and stops, the status will be STOPPED.
The pose indicates the stop position or the vehicle head if the stop position cannot be calculated.
The pose indicates the stop position or the base link if the stop position cannot be calculated.

![velocity-factors](./docs/velocity-factors.drawio.svg)

Expand All @@ -40,7 +40,7 @@ The pose indicates the stop position or the vehicle head if the stop position ca
## Steering factors

The steering factors is an array of information on the maneuver that requires use of turn indicators, such as turning left or right.
Each factor has a type shown below, pose, distance from the vehicle head to that pose, status, and detailed data depending on its type.
Each factor has a type shown below, pose in the base link, distance, status, and detailed data depending on its type.
As the vehicle approaches the position to start steering, this factor appears with a status of APPROACHING.
And when the vehicle reaches that position, the status will be TURNING.
The pose indicates the start position when APPROACHING and the end position when TURNING.
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16 changes: 8 additions & 8 deletions docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
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Expand Up @@ -12,11 +12,11 @@ For details, see the [planning](./index.md).

## Message

| Name | Type | Description |
| ----------------- | ------------------------- | ----------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose[2] | The pose related to the steering factor. |
| factors.distance | float32[2] | The distance from the vehicle head to the above pose. |
| factors.type | uint16 | The type of the steering factor. |
| factors.direction | uint16 | The direction of the steering factor. |
| factors.status | uint16 | The status of the steering factor. |
| factors.detail | string | The additional information of the steering factor. |
| Name | Type | Description |
| ----------------- | ------------------------- | -------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose[2] | The base link pose related to the steering factor. |
| factors.distance | float32[2] | The distance from the base link to the above pose. |
| factors.type | uint16 | The type of the steering factor. |
| factors.direction | uint16 | The direction of the steering factor. |
| factors.status | uint16 | The status of the steering factor. |
| factors.detail | string | The additional information of the steering factor. |
14 changes: 7 additions & 7 deletions docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
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Expand Up @@ -12,10 +12,10 @@ For details, see the [planning](./index.md).

## Message

| Name | Type | Description |
| ---------------- | ---------------------- | ----------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose | The pose related to the velocity factor. |
| factors.distance | float32 | The distance from the vehicle head to the above pose. |
| factors.type | uint16 | The type of the velocity factor. |
| factors.status | uint16 | The status of the velocity factor. |
| factors.detail | string | The additional information of the velocity factor. |
| Name | Type | Description |
| ---------------- | ---------------------- | -------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose | The base link pose related to the velocity factor. |
| factors.distance | float32 | The distance from the base link to the above pose. |
| factors.type | uint16 | The type of the velocity factor. |
| factors.status | uint16 | The status of the velocity factor. |
| factors.detail | string | The additional information of the velocity factor. |
1 change: 0 additions & 1 deletion docs/design/autoware-interfaces/index.md
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Expand Up @@ -145,7 +145,6 @@ Since ROS don't support enumeration, use constants instead.
The default value of type such as zero and empty string should not be used to detect that a variable is unassigned.
Alternatively, assign it a dedicated name to indicate that it is undefined.
If one type has multiple enumerations, comment on the correspondence between constants and variables.
Assign unique values to all constants so that it can be distinguished from other enumerations.
Do not use enumeration values directly, as assignments are subject to change when the version is updated.

### Time stamp
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