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docs(control_performance_analysis): utilize mathjax syntax in readme (#…
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Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
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xmfcx authored Dec 3, 2024
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Expand Up @@ -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

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