mpc_trajectory.hpp

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// Copyright 2018-2021 The Autoware Foundation
//
// 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.
 
#ifndef TRAJECTORY_FOLLOWER__MPC_TRAJECTORY_HPP_
#define TRAJECTORY_FOLLOWER__MPC_TRAJECTORY_HPP_
 
#include <iostream>
#include <vector>
 
#include "common/types.hpp"
#include "trajectory_follower/visibility_control.hpp"
 
namespace autoware
{
namespace motion
{
namespace control
{
namespace trajectory_follower
{
using autoware::common::types::float64_t;
class TRAJECTORY_FOLLOWER_PUBLIC MPCTrajectory
{
public:
  std::vector<float64_t> x;              
  std::vector<float64_t> y;              
  std::vector<float64_t> z;              
  std::vector<float64_t> yaw;            
  std::vector<float64_t> vx;             
  std::vector<float64_t> k;              
  std::vector<float64_t> smooth_k;       
  std::vector<float64_t> relative_time;  
 
  void push_back(
    const float64_t & xp, const float64_t & yp, const float64_t & zp, const float64_t & yawp,
    const float64_t & vxp, const float64_t & kp, const float64_t & smooth_kp, const float64_t & tp);
  void clear();
 
  size_t size() const;
  inline bool empty() const
  {
    return size() == 0;
  }
};
}  // namespace trajectory_follower
}  // namespace control
}  // namespace motion
}  // namespace autoware
#endif  // TRAJECTORY_FOLLOWER__MPC_TRAJECTORY_HPP_