Functions
template<std::size_t key_idx, std::size_t value_idx>
float	InterpolateSteeringData (const float angle)

float	Lerp (const float a, const float b, const float t)

constexpr std::tuple< float, float >	MakeDataPoint (const float desired, const float actual)

Variables
constexpr std::array	DATA

Function Documentation

◆ InterpolateSteeringData()

template<std::size_t key_idx, std::size_t value_idx>

float carla::ros2::autoware_steering_compensation::detail::InterpolateSteeringData ( const float angle )

Definition at line 67 of file AutowareSteeringCompensation.h.

References DATA, and Lerp().

◆ Lerp()

float carla::ros2::autoware_steering_compensation::detail::Lerp	(	const float	a,
		const float	b,
		const float	t
	)

inline

Definition at line 61 of file AutowareSteeringCompensation.h.

Referenced by InterpolateSteeringData().

◆ MakeDataPoint()

constexpr std::tuple< float, float > carla::ros2::autoware_steering_compensation::detail::MakeDataPoint	(	const float	desired,
		const float	actual
	)

constexpr

Definition at line 27 of file AutowareSteeringCompensation.h.

Variable Documentation

◆ DATA

constexpr std::array carla::ros2::autoware_steering_compensation::detail::DATA

constexpr

Initial value:

{
  MakeDataPoint(0.025, 0.0246614),
  MakeDataPoint(0.05,  0.0495395),
  MakeDataPoint(0.1,   0.0949895),
  MakeDataPoint(0.15,  0.142492 ),
  MakeDataPoint(0.2,   0.188953 ),
  MakeDataPoint(0.25,  0.239746 ),
  MakeDataPoint(0.3,   0.287899 ),
  MakeDataPoint(0.35,  0.333537 ),
  MakeDataPoint(0.4,   0.381975 ),
  MakeDataPoint(0.45,  0.416428 ),
  MakeDataPoint(0.5,   0.466122 ),
  MakeDataPoint(0.55,  0.516003 ),
  MakeDataPoint(0.6,   0.559125 ),
  MakeDataPoint(0.65,  0.592443 ),
  MakeDataPoint(0.7,   0.628645 )
}

Note: Steering compensation lookup table. Tuples of (desired_steering_angle, actual_steering_angle). Desired steering angle is the normalized steer input applied to the vehicle; actual steering angle is the steady-state tire angle in radians derived from the measured yaw rate via the bicycle model (delta = atan(L * w / v)). Measured on the UE5.8 Chaos Lincoln MKZ (2026-08-20 sweep at ~3 m/s); the response is near-linear, unlike the strongly degressive UE5.5 vehicle the original tier4 table was calibrated against. Only positive values stored; absolute value used for lookup.

Definition at line 42 of file AutowareSteeringCompensation.h.