Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

• Geometric operations for polygons and trajectories.
• General utilities for trajectory processing and visualization.
• Data structures for storing velocity planning results.

Design

Key Components

1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
   • Collision detection between trajectories and obstacles.
   • Creation of polygons representing the vehicle’s trajectory at different time steps.
   • Geometric calculations using Boost Geometry.
2. General Utilities (utils.hpp) This component provides various utility functions, including:
   • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
   • Distance calculations between trajectory points and obstacles.
   • Functions for concatenating vectors and processing trajectories.
   • Visualization tools for creating markers.
3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
   • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
   • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(planning): declare the dependencies these packages use (#1372) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>. System libraries are named by the rosdep key this workspace already prefers. A clean-context review of the pull request found five more direct uses with no manifest entry. Add one entry for each:
  • autoware_path_generator: tf2 (tf2::getYaw in src/utils.cpp)
  • autoware_motion_velocity_planner_common: tf2 (tf2::getYaw in src/planner_data.cpp and src/polygon_utils.cpp)
  • autoware_motion_velocity_obstacle_stop_module: autoware_planning_factor_interface (constructed in src/obstacle_stop_module.cpp)
  • autoware_behavior_velocity_stop_line_module: autoware_planning_factor_interface (used in src/experimental/scene.cpp)
  • autoware_velocity_smoother: rclcpp_components (register_node_macro.hpp in src/node.cpp)
• Contributors: Mete Fatih Cırıt, github-actions

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• test(autoware_motion_velocity_planner_common): cover utils pure logic and CollisionChecker (#1116) Add unit tests for the ROS-free helpers in utils.cpp -- calc_object_possible_max_dist_from_center (incl. the std::logic_error path), get_index_with_longitudinal_offset edge cases, get_extended_trajectory_points, calc_distance_to_front_object, and concat_vectors -- and re-enable the CollisionChecker::get_collisions tests (point / line / empty / no-collision) with real assertions. Also guard get_extended_trajectory_points against dereferencing back() on an empty trajectory (a latent crash when extend_distance >= min_step_length), pinned by EmptyInputReturnsEmptyWithoutDereferencingBack. Rebased onto main; the get_target_object_type refactor from the original revision is dropped because upstream #1089 (ANIMAL/HAZARD support) already reworked that function and added its own test_utils.cpp tests -- those two tests are retained. Refs: autowarefoundation/autoware_core#1096
• feat(motion_velocity_planner): support ANIMAL and HAZARD labels (#1089)
• Contributors: Yoshi Ri, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(motion_velocity_planner): fix Unnecessary Copy Assignment Movable (#813)

• fix(autoware_motion_velocity_planner_common): fix bugprone-unchecked-optional-access warnings (#895)

• fix(autoware_motion_velocity_planner_common): fix bugprone-narrowing-conversions warnings (#928)

  • fix(autoware_motion_velocity_planner_common): fix bugprone-narrowing-conversions warnings

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_motion_velocity_planner_common): avoid -Wmaybe-uninitialized warning on arm64 with ROS Jazzy (#948)

• fix(motion_velocity_planner_common): suppress maybe-uninitialized warning on NVIDIA DRIVE AGX Thor (#877)

• Contributors: Esteve Fernandez, NorahXiong, Ryuta Kambe, github-actions

1.7.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

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