ROS IndexPackage Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 17.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A scenario-based simulation framework for Autoware |
| Checkout URI | https://github.com/tier4/scenario_simulator_v2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-08-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Masaya Kataoka
Authors
Geometry Package
This package provides features for geometric calculation. Before reading the code in geometry package, please understand these words.
Cartesian Coordinate System
Generally, it is also called a rectangular coordinate system or orthogonal coordinate system.
In geometry package, we treat 3-dimension cartesian coordinate system with x,y,z axis.
Frenet Coordinate System
The frenet coordinate system is a coordinate system that is defined along a curve.
In the geometry package, a curve consisted of 3 3rd order polynomials about each x,y, and z axis in a cartesian coordinate system.
We define the shape of the curve by changing s value of the 3rd order polynomials as^3+bs^2+cs+d in range s = [0,1].
In this coordinate system, s value is normalized in range s = [0,1], s value does not consider the length when the curve is stretched.
If the coefficient a,b = 0, the shape of the curve is a line segment.
In this case, the position of the s = 0 is the start point, and the position of the s = 1 is the end position.
If the coefficient a,b,c = 0, the shape of the curve is a point.
In this case, only s = 0 case is valid, all of the other cases are invalid.
If you find a case that the shape is a point but s is not equal to 0, please notify to developers.
Some of functions in the geometry package have denormalize_s argument with bool type.
If the denormalize_s = false, the return value s of the function is normalized and in range s = [0,1].
If the denormalize_s = true, the return value s is denormalized and it returns the value s times the length of the curve.
\warning A catmull-rom spline curve consists of multiple hermite curves. Each hermite curve has a different length. So, the catmull-rom spline curve can not normalize its length and frenet coordinate of catmull-rom spline curve is always denormalized.
Changelog for package geometry
1.15.0 (2024-04-18)
- Merge branch 'master' into refactor/drop_workflow
- Merge remote-tracking branch 'origin/master' into refactor/drop_workflow # Conflicts: # test_runner/scenario_test_runner/config/workflow_example.yaml
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Merge branch 'master' into refactor/drop_workflow
- Contributors: Kotaro Yoshimoto
2.5.0 (2024-07-08)
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge branch 'master' into feature/publish_empty_context
- Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
- Contributors: Masaya Kataoka
16.4.2 (2025-05-23)
17.0.2 (2025-08-07)
17.0.1 (2025-08-07)
- Merge branch 'master' into fix/spinner
- Contributors: Kotaro Yoshimoto
17.0.0 (2025-08-06)
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Merge branch 'master' into refactor/get_loungitudinal_distance
- Contributors: Grzegorz Maj, Kotaro Yoshimoto, Masaya Kataoka, Mateusz Palczuk, Tatsuya Yamasaki
16.11.0 (2025-08-01)
- Merge branch 'master' into RJD-1769/centerline
- Merge remote-tracking branch 'origin/master' into RJD-1769/centerline # Conflicts: # simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
- Merge branch 'master' into RJD-1769/centerline
- Merge branch 'master' into RJD-1769/centerline
- Contributors: Grzegorz Maj, Kotaro Yoshimoto
16.10.0 (2025-07-31)
- Merge branch 'master' into feature/traffic_signal_state_v2i
- Contributors: Kotaro Yoshimoto
16.9.0 (2025-07-28)
- Merge branch 'master' into feature/transverse_mercator_projection_support
- Merge remote-tracking branch 'origin/master' into feature/transverse_mercator_projection_support
- Contributors: Dawid Moszyński, Piotr Zyskowski
16.8.3 (2025-07-24)
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Merge branch 'master' into patch-1
- Contributors: Kotaro Yoshimoto
16.8.2 (2025-07-24)
16.8.1 (2025-07-22)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.8.0 (2025-07-22)
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Merge branch 'master' into feat/cpp_mock_scenarios_awsim_support
- Contributors: SzymonParapura, Taiga
16.7.6 (2025-07-15)
- Merge branch 'master' into fix-orientation-availability
- Contributors: Kotaro Yoshimoto
16.7.5 (2025-07-11)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
|
geometry package from geometry repoeigen_conversions geometry kdl_conversions tf tf_conversions |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.12.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package. |
| Checkout URI | https://github.com/ros/geometry.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-09-02 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Tully Foote
Authors
- Tully Foote
Changelog for package geometry
1.12.1 (2020-03-10)
- Bump CMake version to avoid CMP0048 warning (#204)
- Contributors: Shane Loretz
1.12.0 (2018-05-02)
1.11.9 (2017-07-14)
- [doc] Add migration notice in manifest. (#129)
- Contributors: Isaac I.Y. Saito
1.11.8 (2016-03-04)
1.11.7 (2015-04-21)
1.11.6 (2015-03-25)
1.11.5 (2015-03-17)
1.11.4 (2014-12-23)
- Update package.xml
- Contributors: David Lu!!
1.11.3 (2014-05-07)
1.11.2 (2014-02-25)
1.11.1 (2014-02-23)
1.11.0 (2014-02-14)
1.10.8 (2014-02-01)
1.10.7 (2013-12-27)
1.10.6 (2013-08-28)
1.10.5 (2013-07-19)
1.10.4 (2013-07-11)
1.10.3 (2013-07-09)
1.10.2 (2013-07-09)
1.10.1 (2013-07-05)
1.10.0 (2013-07-05)
1.9.31 (2013-04-18 18:16)
1.9.30 (2013-04-18 16:26)
- add buildtool_depend
- add CMakeLists.txt for metapackage
1.9.29 (2013-01-13)
1.9.28 (2013-01-02)
1.9.27 (2012-12-21)
1.9.26 (2012-12-14)
1.9.25 (2012-12-13)
1.9.24 (2012-12-11)
- Version 1.9.24
1.9.23 (2012-11-22)
- Releaseing version 1.9.23
1.9.22 (2012-11-04 09:14)
1.9.21 (2012-11-04 01:19)
1.9.20 (2012-11-02)
- depend on angles
1.9.19 (2012-10-31)
1.9.18 (2012-10-16)
1.9.17 (2012-10-02)
1.9.16 (2012-09-29)
- fixing xml syntax
- adding geometry metapackage and updating to 1.9.16
1.9.15 (2012-09-30)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| angles | |
| eigen_conversions | |
| kdl_conversions | |
| tf | |
| tf_conversions |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| robot |
Launch files
Messages
Services
Plugins
Recent questions tagged geometry at Robotics Stack Exchange
|
|
geometry package from geometry repoeigen_conversions geometry kdl_conversions tf tf_conversions |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.13.4 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package. |
| Checkout URI | https://github.com/ros/geometry.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2025-05-31 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Tully Foote
Authors
- Tully Foote
Changelog for package geometry
1.13.4 (2025-04-25)
1.13.3 (2025-04-10)
1.13.2 (2020-06-08)
1.13.1 (2020-05-15)
1.13.0 (2020-03-10)
1.12.1 (2020-03-10)
- Bump CMake version to avoid CMP0048 warning (#204)
- Contributors: Shane Loretz
1.12.0 (2018-05-02)
1.11.9 (2017-07-14)
- [doc] Add migration notice in manifest. (#129)
- Contributors: Isaac I.Y. Saito
1.11.8 (2016-03-04)
1.11.7 (2015-04-21)
1.11.6 (2015-03-25)
1.11.5 (2015-03-17)
1.11.4 (2014-12-23)
- Update package.xml
- Contributors: David Lu!!
1.11.3 (2014-05-07)
1.11.2 (2014-02-25)
1.11.1 (2014-02-23)
1.11.0 (2014-02-14)
1.10.8 (2014-02-01)
1.10.7 (2013-12-27)
1.10.6 (2013-08-28)
1.10.5 (2013-07-19)
1.10.4 (2013-07-11)
1.10.3 (2013-07-09)
1.10.2 (2013-07-09)
1.10.1 (2013-07-05)
1.10.0 (2013-07-05)
1.9.31 (2013-04-18 18:16)
1.9.30 (2013-04-18 16:26)
- add buildtool_depend
- add CMakeLists.txt for metapackage
1.9.29 (2013-01-13)
1.9.28 (2013-01-02)
1.9.27 (2012-12-21)
1.9.26 (2012-12-14)
1.9.25 (2012-12-13)
1.9.24 (2012-12-11)
- Version 1.9.24
1.9.23 (2012-11-22)
- Releaseing version 1.9.23
1.9.22 (2012-11-04 09:14)
1.9.21 (2012-11-04 01:19)
1.9.20 (2012-11-02)
- depend on angles
1.9.19 (2012-10-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| angles | |
| eigen_conversions | |
| kdl_conversions | |
| tf | |
| tf_conversions |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| robot |