/api/planning/velocity_factors#
Status#
- Latest Version: not released
- Method: reliable stream
- Data Type: autoware_adapi_v1_msgs/msg/VelocityFactorArray
Description#
Get the velocity 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 | The pose related to the velocity factor, in the frame of the message header. |
| factors.distance | float32 | The distance from the vehicle to the above pose. |
| factors.status | uint16 | The status of the velocity factor. |
| factors.behavior | string | The behavior type of the velocity factor. |
| factors.sequence | string | The sequence type of the velocity factor. |
| factors.detail | string | The additional information of the velocity factor. |
| factors.cooperation | autoware_adapi_v1_msgs/msg/CooperationStatus[<=1] | The cooperation status if the module supports. |