From 80f59e7b2804ca371a906c82475cd401168f5f3d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 3 Dec 2024 17:02:17 +0300 Subject: [PATCH] docs(control_performance_analysis): utilize mathjax syntax in readme (#9552) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../control_performance_analysis/README.md | 50 +++++++++---------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md index 3895b3cc13465..e87efbe179eee 100644 --- a/control/control_performance_analysis/README.md +++ b/control/control_performance_analysis/README.md @@ -44,34 +44,34 @@ Error acceleration calculations are made based on the velocity calculations abov #### control_performance_analysis::msg::DrivingMonitorStamped -| Name | Type | Description | -| ---------------------------- | ----- | -------------------------------------------------------- | -| `longitudinal_acceleration` | float | [m / s^2] | -| `longitudinal_jerk` | float | [m / s^3] | -| `lateral_acceleration` | float | [m / s^2] | -| `lateral_jerk` | float | [m / s^3] | -| `desired_steering_angle` | float | [rad] | -| `controller_processing_time` | float | Timestamp between last two control command messages [ms] | +| Name | Type | Description | +| ---------------------------- | ----- | --------------------------------------------------------------------- | +| `longitudinal_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `lateral_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `lateral_jerk` | float | $[ \mathrm{m/s^3} ]$ | +| `desired_steering_angle` | float | $[ \mathrm{rad} ]$ | +| `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ | #### control_performance_analysis::msg::ErrorStamped -| Name | Type | Description | -| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------- | -| `lateral_error` | float | [m] | -| `lateral_error_velocity` | float | [m / s] | -| `lateral_error_acceleration` | float | [m / s^2] | -| `longitudinal_error` | float | [m] | -| `longitudinal_error_velocity` | float | [m / s] | -| `longitudinal_error_acceleration` | float | [m / s^2] | -| `heading_error` | float | [rad] | -| `heading_error_velocity` | float | [rad / s] | -| `control_effort_energy` | float | [u * R * u^T] | -| `error_energy` | float | lateral_error^2 + heading_error^2 | -| `value_approximation` | float | V = xPx' ; Value function from DARE Lyap matrix P | -| `curvature_estimate` | float | [1 / m] | -| `curvature_estimate_pp` | float | [1 / m] | -| `vehicle_velocity_error` | float | [m / s] | -| `tracking_curvature_discontinuity_ability` | float | Measures the ability to tracking the curvature changes [`abs(delta(curvature)) / (1 + abs(delta(lateral_error))`] | +| Name | Type | Description | +| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| `lateral_error` | float | $[ \mathrm{m} ]$ | +| `lateral_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `lateral_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `longitudinal_error` | float | $[ \mathrm{m} ]$ | +| `longitudinal_error_velocity` | float | $[ \mathrm{m/s} ]$ | +| `longitudinal_error_acceleration` | float | $[ \mathrm{m/s^2} ]$ | +| `heading_error` | float | $[ \mathrm{rad} ]$ | +| `heading_error_velocity` | float | $[ \mathrm{rad/s} ]$ | +| `control_effort_energy` | float | $[ \mathbf{u}^\top \mathbf{R} \mathbf{u} ]$ simplified to $[ R \cdot u^2 ]$ | +| `error_energy` | float | $e_{\text{lat}}^2 + e_\theta^2$ (squared lateral error + squared heading error) | +| `value_approximation` | float | $V = \mathbf{x}^\top \mathbf{P} \mathbf{x}$; Value function from DARE Lyapunov matrix $\mathbf{P}$ | +| `curvature_estimate` | float | $[ \mathrm{1/m} ]$ | +| `curvature_estimate_pp` | float | $[ \mathrm{1/m} ]$ | +| `vehicle_velocity_error` | float | $[ \mathrm{m/s} ]$ | +| `tracking_curvature_discontinuity_ability` | float | Measures the ability to track curvature changes $\frac{\lvert \Delta(\text{curvature}) \rvert}{1 + \lvert \Delta(e_{\text{lat}}) \rvert}$ | ## Parameters