@@ -44,34 +44,34 @@ Error acceleration calculations are made based on the velocity calculations abov
4444
4545#### control_performance_analysis::msg::DrivingMonitorStamped
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47- | Name | Type | Description |
48- | ---------------------------- | ----- | -------------------------------------------------------- |
49- | ` longitudinal_acceleration ` | float | [ m / s^2] |
50- | ` longitudinal_jerk ` | float | [ m / s^3] |
51- | ` lateral_acceleration ` | float | [ m / s^2] |
52- | ` lateral_jerk ` | float | [ m / s^3] |
53- | ` desired_steering_angle ` | float | [ rad] |
54- | ` controller_processing_time ` | float | Timestamp between last two control command messages [ ms ] |
47+ | Name | Type | Description |
48+ | ---------------------------- | ----- | --------------------------------------------------------------------- |
49+ | ` longitudinal_acceleration ` | float | $ [ \mathrm{m/ s^2} ] $ |
50+ | ` longitudinal_jerk ` | float | $ [ \mathrm{m/ s^3} ] $ |
51+ | ` lateral_acceleration ` | float | $ [ \mathrm{m/ s^2} ] $ |
52+ | ` lateral_jerk ` | float | $ [ \mathrm{m/ s^3} ] $ |
53+ | ` desired_steering_angle ` | float | $ [ \mathrm{ rad} ] $ |
54+ | ` controller_processing_time ` | float | Timestamp between last two control command messages $ [ \mathrm{ms} ] $ |
5555
5656#### control_performance_analysis::msg::ErrorStamped
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58- | Name | Type | Description |
59- | ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------- |
60- | ` lateral_error ` | float | [ m ] |
61- | ` lateral_error_velocity ` | float | [ m / s ] |
62- | ` lateral_error_acceleration ` | float | [ m / s^2] |
63- | ` longitudinal_error ` | float | [ m ] |
64- | ` longitudinal_error_velocity ` | float | [ m / s ] |
65- | ` longitudinal_error_acceleration ` | float | [ m / s^2] |
66- | ` heading_error ` | float | [ rad] |
67- | ` heading_error_velocity ` | float | [ rad / s ] |
68- | ` control_effort_energy ` | float | [ u * R * u^T ] |
69- | ` error_energy ` | float | lateral_error ^2 + heading_error^2 |
70- | ` value_approximation ` | float | V = xPx' ; Value function from DARE Lyap matrix P |
71- | ` curvature_estimate ` | float | [ 1 / m ] |
72- | ` curvature_estimate_pp ` | float | [ 1 / m ] |
73- | ` vehicle_velocity_error ` | float | [ m / s ] |
74- | ` tracking_curvature_discontinuity_ability ` | float | Measures the ability to tracking the curvature changes [ ` abs(delta( curvature)) / ( 1 + abs(delta(lateral_error)) ` ] |
58+ | Name | Type | Description |
59+ | ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- |
60+ | ` lateral_error ` | float | $ [ \mathrm{m} ] $ |
61+ | ` lateral_error_velocity ` | float | $ [ \mathrm{m/s} ] $ |
62+ | ` lateral_error_acceleration ` | float | $ [ \mathrm{m/ s^2} ] $ |
63+ | ` longitudinal_error ` | float | $ [ \mathrm{m} ] $ |
64+ | ` longitudinal_error_velocity ` | float | $ [ \mathrm{m/s} ] $ |
65+ | ` longitudinal_error_acceleration ` | float | $ [ \mathrm{m/ s^2} ] $ |
66+ | ` heading_error ` | float | $ [ \mathrm{ rad} ] $ |
67+ | ` heading_error_velocity ` | float | $ [ \mathrm{rad/s} ] $ |
68+ | ` control_effort_energy ` | float | $ [ \mathbf{u}^\top \mathbf{R} \mathbf{u} ] $ simplified to $ [ R \cdot u^2 ] $ |
69+ | ` error_energy ` | float | $e _ {\text{lat}} ^2 + e _ \theta^2$ (squared lateral error + squared heading error) |
70+ | ` value_approximation ` | float | $ V = \mathbf{x}^\top \mathbf{P} \mathbf{x}$ ; Value function from DARE Lyapunov matrix $\mathbf{P}$ |
71+ | ` curvature_estimate ` | float | $ [ \mathrm{1/m} ] $ |
72+ | ` curvature_estimate_pp ` | float | $ [ \mathrm{1/m} ] $ |
73+ | ` vehicle_velocity_error ` | float | $ [ \mathrm{m/s} ] $ |
74+ | ` tracking_curvature_discontinuity_ability ` | float | Measures the ability to track curvature changes $\frac{\lvert \Delta(\text{ curvature}) \rvert}{ 1 + \lvert \Delta(e _ {\text{lat}}) \rvert}$ |
7575
7676## Parameters
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