state_estimation_interface.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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
 
#ifndef STATE_ESTIMATION__STATE_ESTIMATION_INTERFACE_HPP_
#define STATE_ESTIMATION__STATE_ESTIMATION_INTERFACE_HPP_
 
 
#include <helper_functions/crtp.hpp>
#include <state_estimation/measurement/measurement_interface.hpp>
#include <state_estimation/visibility_control.hpp>
 
#include <chrono>
 
namespace autoware
{
namespace common
{
namespace state_estimation
{
 
template<typename Derived>
class STATE_ESTIMATION_PUBLIC StateEstimationInterface
  : public common::helper_functions::crtp<Derived>
{
public:
  auto predict(const std::chrono::nanoseconds & dt) {return this->impl().crtp_predict(dt);}
 
  template<typename MeasurementT>
  auto correct(const MeasurementT & measurement)
  {
    static_assert(
      std::is_base_of<MeasurementInterface<MeasurementT>, MeasurementT>::value,
      "\n\nMeasurement must inherit from MeasurementInterface\n\n");
    return this->impl().template crtp_correct<MeasurementT>(measurement);
  }
 
  template<typename StateT>
  void reset(const StateT & state, const typename StateT::Matrix & covariance)
  {
    static_assert(
      std::is_same<typename Derived::State, StateT>::value,
      "\n\nProvided type StateT must match the filter implementation State type.\n\n");
    this->impl().crtp_reset(state, covariance);
  }
 
  auto & state() {return this->impl().crtp_state();}
  const auto & state() const {return this->impl().crtp_state();}
 
  auto & covariance() {return this->impl().crtp_covariance();}
  const auto & covariance() const {return this->impl().crtp_covariance();}
};
 
 
}  // namespace state_estimation
}  // namespace common
}  // namespace autoware
 
#endif  // STATE_ESTIMATION__STATE_ESTIMATION_INTERFACE_HPP_