Moved and extended metrics added reinit in the waypoint to target node

Author: horverno

README.md

@@ -55,13 +55,14 @@ Reads the waypoint array and speeds, from that it creates single or mutliple goa
 
 It also provides a `/metrics_wayp` array topic with the following  elements:
 
-| Array element | Meaning 
-| :--- | :--- 
-|`[0]` | current lateral distance to the waypoint (cross-track error)
-|`[1]` | average lateral distance over time
-|`[2]` | current waypoint ID
-|`[3]` | target waypoint ID
-|`[4]` | target waypoint longitudinal distance 
+| Array element | Meaning | Const
+| :--- | :--- | :---
+|`[0]` | current lateral distance to the waypoint (signed, cross-track error) | `CUR_LAT_DIST_SIGNED`
+|`[1]` | current lateral distance to the waypoint (absolute value) | `CUR_LAT_DIST_ABS`
+|`[2]` | average lateral distance over time | `AVG_LAT_DISTANCE`
+|`[3]` | current waypoint ID | `CUR_WAYPOINT_ID`
+|`[4]` | target waypoint ID | `TRG_WAYPOINT_ID`
+|`[5]` | target waypoint longitudinal distance  | `TRG_WAY_LON_DIST`
 
 <img src="csv/lookahead01.svg" width=60% />
 

include/wayp_plan_tools/common.hpp

@@ -1,15 +1,24 @@
 #ifndef COMMON_HPP_
 #define COMMON_HPP_
 
-//#include <iostream>
-//#include "rclcpp/rclcpp.hpp"
-//#include "geometry_msgs/msg/pose.hpp"
-//#include "geometry_msgs/msg/pose_stamped.hpp"
-//#include "geometry_msgs/msg/pose_array.hpp"
+// #include <iostream>
+// #include "rclcpp/rclcpp.hpp"
+// #include "geometry_msgs/msg/pose.hpp"
+// #include "geometry_msgs/msg/pose_stamped.hpp"
+// #include "geometry_msgs/msg/pose_array.hpp"
 
 namespace common_wpt
 {
-  
+    enum METRICS
+    {
+        CUR_LAT_DIST_SIGNED = 0, // current lateral distance to the waypoint (signed, cross-track error)
+        CUR_LAT_DIST_ABS,        // current lateral distance to the waypoint (absolute value)
+        AVG_LAT_DISTANCE,        // average lateral distance over time
+        CUR_WAYPOINT_ID,         // current waypoint ID
+        TRG_WAYPOINT_ID,         // target waypoint ID
+        TRG_WAY_LON_DIST,        // target waypoint longitudinal distance
+        NOT_USED_YET
+    };
 } // namespace common_wpt
 
-#endif  // COMMON_HPP_
+#endif // COMMON_HPP_