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Copy file name to clipboardexpand all lines: control/control_performance_analysis/README.md
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This package is used as a tool to quantify the results of the control module.
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That's why it doesn't interfere with the core logic of autonomous driving.
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Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `control_performance_analysis::msg::ErrorStamped` defined in this package.
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Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `autoware_control_performance_analysis::msg::ErrorStamped` defined in this package.
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All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below.
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Copy file name to clipboardexpand all lines: control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp
Copy file name to clipboardexpand all lines: control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
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