/api/planning/steering_factors#
Status#
- Latest Version: not released
- Method: reliable stream
- Data Type: autoware_adapi_v1_msgs/msg/SteeringFactorArray
Description#
Get the steering factors. The specification intends the factors to be sorted in ascending order of distance. The default implementation does not sort them. It lists them in the fixed order of its input topics. For details, see the planning factors.
Message#
| Name | Type | Description |
|---|---|---|
| header | std_msgs/msg/Header | Header with the timestamp and the frame ID of the poses. |
| factors.pose | geometry_msgs/msg/Pose[2] | The start and end poses of the steering section, in the frame of the message header. |
| factors.distance | float32[2] | The distances from the vehicle to the above poses. |
| factors.direction | uint16 | The direction of the steering factor. |
| factors.status | uint16 | The status of the steering factor. |
| factors.behavior | string | The behavior type of the steering factor. |
| factors.sequence | string | The sequence type of the steering factor. |
| factors.detail | string | The additional information of the steering factor. |
| factors.cooperation | autoware_adapi_v1_msgs/msg/CooperationStatus[<=1] | The cooperation status if the module supports. |