linear_motion_model.hpp

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// 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 MOTION_MODEL__LINEAR_MOTION_MODEL_HPP_
#define MOTION_MODEL__LINEAR_MOTION_MODEL_HPP_
 
#include <motion_model/motion_model_interface.hpp>
#include <motion_model/visibility_control.hpp>
#include <state_vector/common_states.hpp>
#include <state_vector/generic_state.hpp>
 
namespace autoware
{
namespace common
{
namespace motion_model
{
 
template<typename StateT>
class MOTION_MODEL_PUBLIC LinearMotionModel
  : public MotionModelInterface<LinearMotionModel<StateT>>
{
public:
  using State = StateT;
 
protected:
  // Allow the CRTP interface to call private functions.
  friend MotionModelInterface<LinearMotionModel<StateT>>;
 
  inline State crtp_predict(
    const State & state,
    const std::chrono::nanoseconds & dt) const
  {
    return State{crtp_jacobian(state, dt) * state.vector()};
  }
 
  typename State::Matrix crtp_jacobian(const State &, const std::chrono::nanoseconds & dt) const;
};
 
}  // namespace motion_model
}  // namespace common
}  // namespace autoware
 
#endif  // MOTION_MODEL__LINEAR_MOTION_MODEL_HPP_