catr_core.hpp

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// Copyright 2018 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.

#ifndef MOTION_MODEL__CATR_CORE_HPP_
#define MOTION_MODEL__CATR_CORE_HPP_

#include <common/types.hpp>
#include "motion_model/visibility_control.hpp"
#include "motion_model/motion_model.hpp"

using autoware::common::types::bool8_t;
using autoware::common::types::float32_t;

namespace autoware
{
namespace motion
{
namespace motion_model
{

struct MOTION_MODEL_PUBLIC CatrInvariantWorkspace
{
  bool8_t is_w_nonzero;  
  float32_t w;  
  float32_t a;  
  float32_t s;  
  float32_t c;  
  float32_t vw;  
  float32_t w_inv;  
  float32_t w2_inv;  
};

struct MOTION_MODEL_PUBLIC CatrVariantWorkspace
{
  float32_t dt;  
  float32_t vp;  
  float32_t wT;  
  float32_t thp;  
  float32_t sp;  
  float32_t cp;  
  float32_t awT;  
};


struct MOTION_MODEL_PUBLIC CatrState
{
  static const index_t POSE_X = 0U;  
  static const index_t POSE_Y = 1U;  
  static const index_t VELOCITY = 2U;  
  static const index_t ACCELERATION = 3U;  
  static const index_t HEADING = 4U;  
  static const index_t TURN_RATE = 5U;  
};

template<int32_t NumStates>
MOTION_MODEL_LOCAL void catr_workspace_init_invariant(
  const Eigen::Matrix<float32_t, NumStates, 1U> & x,
  CatrInvariantWorkspace & ws);

template<int32_t NumStates>
MOTION_MODEL_LOCAL void catr_workspace_init_variant(
  const Eigen::Matrix<float32_t, NumStates, 1U> & x,
  const float32_t dt_s,
  const CatrInvariantWorkspace & iws,
  CatrVariantWorkspace & ws);

template<int32_t NumStates>
MOTION_MODEL_LOCAL void catr_compute_jacobian(
  const CatrInvariantWorkspace & iws,
  const CatrVariantWorkspace & vws,
  Eigen::Matrix<float32_t, NumStates, NumStates> & F);

template<int32_t NumStates>
MOTION_MODEL_LOCAL void catr_predict(
  const Eigen::Matrix<float32_t, NumStates, 1U> & ref,
  const CatrInvariantWorkspace & iws,
  const CatrVariantWorkspace & vws,
  Eigen::Matrix<float32_t, NumStates, 1U> & x);

}  // namespace motion_model
}  // namespace motion
}  // namespace autoware

#endif  // MOTION_MODEL__CATR_CORE_HPP_