catr_model.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_MODEL_HPP_
#define MOTION_MODEL__CATR_MODEL_HPP_

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

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

namespace autoware
{
namespace motion
{
namespace motion_model
{
class MOTION_MODEL_PUBLIC CatrModel : public MotionModel<6U>
{
public:
  CatrModel & operator=(const CatrModel & rhs);
  void predict(
    Eigen::Matrix<float32_t, 6U, 1U> & x,
    const std::chrono::nanoseconds & dt) const override;

  void predict(const std::chrono::nanoseconds & dt) override;

  void compute_jacobian(
    Eigen::Matrix<float32_t, 6U, 6U> & F,
    const std::chrono::nanoseconds & dt) override;

  void compute_jacobian_and_predict(
    Eigen::Matrix<float32_t, 6U, 6U> & F,
    const std::chrono::nanoseconds & dt) override;

  float32_t operator[](const index_t idx) const override;

  void reset(const Eigen::Matrix<float32_t, 6U, 1U> & x) override;

  const Eigen::Matrix<float32_t, 6U, 1U> & get_state() const override;

private:
  Eigen::Matrix<float32_t, 6U, 1U> m_state{Eigen::Matrix<float32_t, 6U, 1U>::Zero()};
  CatrInvariantWorkspace m_invariants;       
  mutable CatrVariantWorkspace m_variants;   
};  // class ConstantVelocity
}  // namespace motion_model
}  // namespace motion
}  // namespace autoware

#endif  // MOTION_MODEL__CATR_MODEL_HPP_