vehicle_constants_manager.hpp

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// Copyright 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 VEHICLE_CONSTANTS_MANAGER__VEHICLE_CONSTANTS_MANAGER_HPP_
#define VEHICLE_CONSTANTS_MANAGER__VEHICLE_CONSTANTS_MANAGER_HPP_
 
#include <common/types.hpp>
#include <rclcpp/rclcpp.hpp>
#include <vehicle_constants_manager/visibility_control.hpp>
 
#include <chrono>
#include <memory>
#include <string>
 
namespace autoware
{
namespace common
{
namespace vehicle_constants_manager
{
struct VEHICLE_CONSTANTS_MANAGER_PUBLIC VehicleConstants
{
  using SharedPtr = std::shared_ptr<VehicleConstants>;
  using ConstSharedPtr = const SharedPtr;
 
  using float64_t = autoware::common::types::float64_t;
 
  explicit VehicleConstants(
    float64_t wheel_radius, float64_t wheel_width, float64_t wheel_base,
    float64_t wheel_tread, float64_t overhang_front,
    float64_t overhang_rear, float64_t overhang_left,
    float64_t overhang_right, float64_t vehicle_height,
    float64_t cg_to_rear, float64_t tire_cornering_stiffness_front,
    float64_t tire_cornering_stiffness_rear, float64_t mass_vehicle,
    float64_t inertia_yaw_kg_m_2, float64_t maximum_turning_angle_rad);
 
  // Primary Constants
 
  const float64_t wheel_radius;
 
  const float64_t wheel_width;
 
  const float64_t wheel_base;
 
  const float64_t wheel_tread;
 
  const float64_t overhang_front;
 
  const float64_t overhang_rear;
 
  const float64_t overhang_left;
 
  const float64_t overhang_right;
 
  const float64_t vehicle_height;
 
  const float64_t cg_to_rear;
 
  const float64_t tire_cornering_stiffness_front;
 
  const float64_t tire_cornering_stiffness_rear;
 
  const float64_t mass_vehicle;
 
  const float64_t inertia_yaw_kg_m2;
 
  const float64_t maximum_turning_angle_rad;
 
 
  // Derived Constants
 
  const float64_t cg_to_front;
 
  const float64_t vehicle_length;
 
  const float64_t vehicle_width;
 
 
  const float64_t offset_longitudinal_min;
 
  const float64_t offset_longitudinal_max;
 
  const float64_t offset_lateral_min;
 
  const float64_t offset_lateral_max;
 
  const float64_t offset_height_min;
 
  const float64_t offset_height_max;
 
  float64_t minimum_turning_radius;
 
  std::string str_pretty() const;
};
 
VEHICLE_CONSTANTS_MANAGER_PUBLIC VehicleConstants
declare_and_get_vehicle_constants(rclcpp::Node & node);
}  // namespace vehicle_constants_manager
}  // namespace common
}  // namespace autoware
 
#endif  // VEHICLE_CONSTANTS_MANAGER__VEHICLE_CONSTANTS_MANAGER_HPP_