A representation of a generic state vectors with specified variables. More...

#include <generic_state.hpp>

Public Types
using	Variables = std::tuple< VariableTs... >

using	Vector = Eigen::Matrix< ScalarT, kSize, 1 >

using	Matrix = Eigen::Matrix< ScalarT, kSize, kSize >

using	Scalar = ScalarT

Public Member Functions
	GenericState ()=default
	Default constructor. More...

	GenericState (const Vector &vector)
	Constructs a new instance from an Eigen vector. More...

Vector &	vector () noexcept
	Get underlying Eigen vector. More...

const Vector &	vector () const noexcept
	Get underlying Eigen vector. More...

ScalarT &	operator[] (const Eigen::Index idx)
	Get an element of the vector. More...

const ScalarT &	operator[] (const Eigen::Index idx) const
	Get an element of the vector. More...

template<typename VariableT >
ScalarT &	at () noexcept
	Get vector element at a given variable. More...

template<typename VariableT >
ScalarT &	at (const VariableT) noexcept
	Get vector element at a given variable. More...

template<typename VariableT >
const ScalarT &	at () const noexcept
	Get vector element at a given variable. More...

template<typename VariableT >
const ScalarT &	at (const VariableT) const noexcept
	Get vector element at a given variable. More...

template<typename OtherStateT >
OtherStateT	copy_into (OtherStateT other_state=OtherStateT{}) const noexcept
	Copy values of this state into another state. More...

Static Public Member Functions
template<typename VariableT >
static constexpr Eigen::Index	index_of () noexcept
	Get an index of the variable in the state. More...

static constexpr Eigen::Index	size () noexcept
	Get the size of the state. More...

static constexpr Variables	variables () noexcept
	Get a variables tuple used for iteration over all variables. More...

Friends
constexpr bool	operator== (const GenericState &lhs, const GenericState &rhs)
	An equality operator. More...

std::ostream &	operator<< (std::ostream &out, const GenericState &state)
	Allow using << operator with this class. More...

Detailed Description

template<typename ScalarT, typename ... VariableTs>
class autoware::prediction::GenericState< ScalarT, VariableTs >

A representation of a generic state vectors with specified variables.

Template Parameters

VariableTs Variables which this state consists of.

Member Typedef Documentation

◆ Matrix

template<typename ScalarT , typename ... VariableTs>

using autoware::prediction::GenericState< ScalarT, VariableTs >::Matrix = Eigen::Matrix<ScalarT, kSize, kSize>

◆ Scalar

template<typename ScalarT , typename ... VariableTs>

using autoware::prediction::GenericState< ScalarT, VariableTs >::Scalar = ScalarT

◆ Variables

template<typename ScalarT , typename ... VariableTs>

using autoware::prediction::GenericState< ScalarT, VariableTs >::Variables = std::tuple<VariableTs...>

◆ Vector

template<typename ScalarT , typename ... VariableTs>

using autoware::prediction::GenericState< ScalarT, VariableTs >::Vector = Eigen::Matrix<ScalarT, kSize, 1>

Constructor & Destructor Documentation

◆ GenericState() [1/2]

template<typename ScalarT , typename ... VariableTs>

autoware::prediction::GenericState< ScalarT, VariableTs >::GenericState ( )

default

Default constructor.

◆ GenericState() [2/2]

template<typename ScalarT , typename ... VariableTs>

autoware::prediction::GenericState< ScalarT, VariableTs >::GenericState ( const Vector & vector )

inlineexplicit

Constructs a new instance from an Eigen vector.

Parameters

[in] vector An Eigen vector.

Member Function Documentation

◆ at() [1/4]

template<typename ScalarT , typename ... VariableTs>

template<typename VariableT >

ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::at ( )

inlinenoexcept

Get vector element at a given variable.

Template Parameters

VariableT A variable from the state.

Returns: A reference to the element representing this variable.

◆ at() [2/4]

template<typename ScalarT , typename ... VariableTs>

template<typename VariableT >

ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::at ( const VariableT )

inlinenoexcept

Get vector element at a given variable.

Template Parameters

VariableT A variable from the state.

Returns: A reference to the element representing this variable.

◆ at() [3/4]

template<typename ScalarT , typename ... VariableTs>

template<typename VariableT >

const ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::at ( ) const

inlinenoexcept

Get vector element at a given variable.

Template Parameters

VariableT A variable from the state.

Returns: A reference to the element representing this variable.

◆ at() [4/4]

template<typename ScalarT , typename ... VariableTs>

template<typename VariableT >

const ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::at ( const VariableT ) const

inlinenoexcept

Get vector element at a given variable.

Template Parameters

VariableT A variable from the state.

Returns: A reference to the element representing this variable.

◆ copy_into()

template<typename ScalarT , typename ... VariableTs>

template<typename OtherStateT >

OtherStateT autoware::prediction::GenericState< ScalarT, VariableTs >::copy_into ( OtherStateT other_state = OtherStateT{} ) const

inlinenoexcept

Copy values of this state into another state.

This function copies (a subset of) variables from the current state into another state. If other_state is provided, it is used as a "donor" state, i.e., the values already in this other_state are unchanged unless overwritten by the ones present in the current state. If no other_state is given, a new zero-initialized instance of OtherStateT will be created and this state will be used for the further update using the variables from the current state.

This function can be used in a couple different situations:

when a smaller current state must be copied into a bigger other state, overwriting some of that bigger state's variables;
when a reduction of the current state onto a smaller state is required;
when a rearrangement of the variables is needed.

Please see tests for examples of usage.

Note: This function only is correctly compiled if either StateT is a subset of OtherStateT, or OtherStateT is a subset of the StateT. Otherwise, a compilation error will be issued.

Parameters

[in] other_state Other state.

Template Parameters

OtherStateT Type of the other state.

Returns: The updated other state.

◆ index_of()

template<typename ScalarT , typename ... VariableTs>

template<typename VariableT >

static constexpr Eigen::Index autoware::prediction::GenericState< ScalarT, VariableTs >::index_of ( )

inlinestaticnoexcept

Get an index of the variable in the state.

Template Parameters

VariableT A variable from the state.

Returns: An index of the given variable in the state vector.

◆ operator[]() [1/2]

template<typename ScalarT , typename ... VariableTs>

ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::operator[] ( const Eigen::Index idx )

inline

Get an element of the vector.

Parameters

[in] idx The index of the vector element.

Returns: A reference to the vector element.

◆ operator[]() [2/2]

template<typename ScalarT , typename ... VariableTs>

const ScalarT& autoware::prediction::GenericState< ScalarT, VariableTs >::operator[] ( const Eigen::Index idx ) const

inline

Get an element of the vector.

Parameters

[in] idx The index of the vector element.

Returns: A reference to the vector element.

◆ size()

template<typename ScalarT , typename ... VariableTs>

static constexpr Eigen::Index autoware::prediction::GenericState< ScalarT, VariableTs >::size ( )

inlinestaticnoexcept

Get the size of the state.

Note: This can also be called on an instance of the state.

Returns: Number of variables in this state.

◆ variables()

template<typename ScalarT , typename ... VariableTs>

static constexpr Variables autoware::prediction::GenericState< ScalarT, VariableTs >::variables ( )

inlinestaticnoexcept

Get a variables tuple used for iteration over all variables.

◆ vector() [1/2]

template<typename ScalarT , typename ... VariableTs>

Vector& autoware::prediction::GenericState< ScalarT, VariableTs >::vector ( )

inlinenoexcept

Get underlying Eigen vector.

Returns: A reference to the underlying Eigen vector.

◆ vector() [2/2]

template<typename ScalarT , typename ... VariableTs>

const Vector& autoware::prediction::GenericState< ScalarT, VariableTs >::vector ( ) const

inlinenoexcept

Get underlying Eigen vector.

Returns: A const reference to the underlying Eigen vector.

Friends And Related Function Documentation

◆ operator<<

template<typename ScalarT , typename ... VariableTs>

std::ostream& operator<<	(	std::ostream &	out,
		const GenericState< ScalarT, VariableTs > &	state
	)

friend

Allow using << operator with this class.

This function adds the variables to the output stream along with their names.

◆ operator==

template<typename ScalarT , typename ... VariableTs>

constexpr bool operator==	(	const GenericState< ScalarT, VariableTs > &	lhs,
		const GenericState< ScalarT, VariableTs > &	rhs
	)

friend

An equality operator.

The documentation for this class was generated from the following file:

generic_state.hpp

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

template<typename ScalarT, typename ... VariableTs> class autoware::prediction::GenericState< ScalarT, VariableTs >

Member Typedef Documentation

◆ Matrix

◆ Scalar

◆ Variables

◆ Vector

Constructor & Destructor Documentation

◆ GenericState() [1/2]

◆ GenericState() [2/2]

Member Function Documentation

◆ at() [1/4]

◆ at() [2/4]

◆ at() [3/4]

◆ at() [4/4]

◆ copy_into()

◆ index_of()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ size()

◆ variables()

◆ vector() [1/2]

◆ vector() [2/2]

Friends And Related Function Documentation

◆ operator<<

◆ operator==

template<typename ScalarT, typename ... VariableTs>
class autoware::prediction::GenericState< ScalarT, VariableTs >