Autoware.Auto
measurement_typedefs.hpp
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1 // Copyright 2021 Apex.AI, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 //    http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
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12 // See the License for the specific language governing permissions and
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14 //
15 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
16 
19 
20 #ifndef MEASUREMENT_CONVERSION__MEASUREMENT_TYPEDEFS_HPP_
21 #define MEASUREMENT_CONVERSION__MEASUREMENT_TYPEDEFS_HPP_
22 
23 #include <common/types.hpp>
26 
27 namespace autoware
28 {
29 namespace common
30 {
31 namespace state_estimation
32 {
33 
34 template<typename MeasurementT>
35 struct Stamped
36 {
37  std::chrono::system_clock::time_point timestamp;
38  MeasurementT measurement;
39 
40  template<typename NewScalarT>
41  auto cast() const noexcept
42  {
43  using NewMeasurementT = decltype(measurement.template cast<NewScalarT>());
45  timestamp,
46  measurement.template cast<NewScalarT>()
47  };
48  }
49 };
50 
51 template<typename ScalarT>
52 using PoseMeasurementXYZ = LinearMeasurement<state_vector::GenericState<ScalarT,
56 
57 template<typename ScalarT>
63 
64 
65 } // namespace state_estimation
66 } // namespace common
67 } // namespace autoware
68 
69 #endif // MEASUREMENT_CONVERSION__MEASUREMENT_TYPEDEFS_HPP_
autoware::common::state_estimation::Stamped::cast
auto cast() const noexcept
Definition: measurement_typedefs.hpp:41
common_variables.hpp
This file defines the common variables used within the filter implementations.
autoware::common::state_estimation::Stamped
Definition: measurement_typedefs.hpp:35
autoware::common::state_estimation::Stamped::timestamp
std::chrono::system_clock::time_point timestamp
Definition: measurement_typedefs.hpp:37
autoware::common::state_estimation::Stamped::measurement
MeasurementT measurement
Definition: measurement_typedefs.hpp:38
types.hpp
This file includes common type definition.
autoware::common::state_vector::variable::Z
Definition: common_variables.hpp:40
autoware::common::state_vector::GenericState
A representation of a generic state vectors with specified variables.
Definition: generic_state.hpp:60
autoware::common::state_vector::variable::YAW
A variable that represents the roll angle of an object.
Definition: common_variables.hpp:67
autoware::common::state_estimation::LinearMeasurement
A class that represents a linear measurement.
Definition: linear_measurement.hpp:46
autoware
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
autoware::common::state_vector::variable::Y
Definition: common_variables.hpp:39
linear_measurement.hpp
autoware::common::state_vector::variable::PITCH
A variable that represents the pitch angle of an object.
Definition: common_variables.hpp:58
autoware::common::state_estimation::PoseMeasurementXYZ
LinearMeasurement< state_vector::GenericState< ScalarT, state_vector::variable::X, state_vector::variable::Y, state_vector::variable::Z > > PoseMeasurementXYZ
Definition: measurement_typedefs.hpp:53
autoware::common::state_vector::variable::X
Definition: common_variables.hpp:38
autoware::common::state_vector::variable::ROLL
A variable that represents the roll angle of an object.
Definition: common_variables.hpp:49