common_states.hpp

Go to the documentation of this file.

// Copyright 2021 Apex.AI, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Developed by Apex.AI, Inc.
 
 
#ifndef STATE_VECTOR__COMMON_STATES_HPP_
#define STATE_VECTOR__COMMON_STATES_HPP_
 
#include <common/types.hpp>
#include <state_vector/common_variables.hpp>
#include <state_vector/generic_state.hpp>
 
namespace autoware
{
namespace common
{
namespace state_vector
{
 
template<typename ScalarT>
using ConstAccelerationXY =
  GenericState<ScalarT,
    variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
    variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION>;
using ConstAccelerationXY32 = ConstAccelerationXY<common::types::float32_t>;
using ConstAccelerationXY64 = ConstAccelerationXY<common::types::float64_t>;
 
template<typename ScalarT>
using ConstAccelerationXYZ =
  GenericState<ScalarT,
    variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
    variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION,
    variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION>;
using ConstAccelerationXYZ32 = ConstAccelerationXYZ<common::types::float32_t>;
using ConstAccelerationXYZ64 = ConstAccelerationXYZ<common::types::float64_t>;
 
template<typename ScalarT>
using ConstAccelerationXYYaw =
  GenericState<ScalarT,
    variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
    variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION,
    variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>;
using ConstAccelerationXYYaw32 = ConstAccelerationXYYaw<common::types::float32_t>;
using ConstAccelerationXYYaw64 = ConstAccelerationXYYaw<common::types::float64_t>;
 
template<typename ScalarT>
using ConstAccelerationXYZYaw =
  GenericState<ScalarT,
    variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
    variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION,
    variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION,
    variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>;
using ConstAccelerationXYZYaw32 = ConstAccelerationXYZYaw<common::types::float32_t>;
using ConstAccelerationXYZYaw64 = ConstAccelerationXYZYaw<common::types::float64_t>;
 
template<typename ScalarT>
using ConstAccelerationXYZRPY =
  GenericState<ScalarT,
    variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
    variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION,
    variable::Z, variable::Z_VELOCITY, variable::Z_ACCELERATION,
    variable::ROLL, variable::ROLL_CHANGE_RATE, variable::ROLL_CHANGE_ACCELERATION,
    variable::PITCH, variable::PITCH_CHANGE_RATE, variable::PITCH_CHANGE_ACCELERATION,
    variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>;
using ConstAccelerationXYZRPY32 = ConstAccelerationXYZRPY<common::types::float32_t>;
using ConstAccelerationXYZRPY64 = ConstAccelerationXYZRPY<common::types::float64_t>;
 
template<typename ScalarT>
using ConstantAccelerationAndTurnRate =
  GenericState<ScalarT,
    variable::X, variable::Y, variable::YAW,
    variable::XY_VELOCITY, variable::YAW_CHANGE_RATE,
    variable::XY_ACCELERATION>;
using ConstantAccelerationAndTurnRate32 = ConstantAccelerationAndTurnRate<common::types::float32_t>;
using ConstantAccelerationAndTurnRate64 = ConstantAccelerationAndTurnRate<common::types::float64_t>;
 
template<typename ScalarT>
using ConstantVelocityAndTurnRate =
  GenericState<ScalarT,
    variable::X, variable::Y, variable::YAW,
    variable::XY_VELOCITY, variable::YAW_CHANGE_RATE>;
using ConstantVelocityAndTurnRate32 = ConstantVelocityAndTurnRate<common::types::float32_t>;
using ConstantVelocityAndTurnRate64 = ConstantVelocityAndTurnRate<common::types::float64_t>;
 
}  // namespace state_vector
}  // namespace common
}  // namespace autoware
 
#endif  // STATE_VECTOR__COMMON_STATES_HPP_