control/motion_common/include/motion_common/config.hpp

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// Copyright 2019 Christopher Ho
//
// 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 MOTION_COMMON__CONFIG_HPP_
#define MOTION_COMMON__CONFIG_HPP_

#include <motion_common/visibility_control.hpp>
#include <motion_common/motion_common.hpp>

#define MOTION_COMMON_COPY_MOVE_ASSIGNABLE(Class) \
  Class(const Class &) = default; \
  Class(Class &&) = default; \
  Class & operator=(const Class &) = default; \
  Class & operator=(Class &&) = default; \
  ~Class() = default;

namespace motion
{
namespace motion_common
{
using motion_common::Real;
using motion_common::Command;
using motion_common::State;
using motion_common::Trajectory;
using motion_common::Point;
using motion_common::Heading;
using motion_common::Index;

class MOTION_COMMON_PUBLIC LimitsConfig
{
public:
  class Extremum
  {
public:
    Extremum(Real min, Real max);
    MOTION_COMMON_COPY_MOVE_ASSIGNABLE(Extremum)

    Real min() const noexcept;
    Real max() const noexcept;

private:
    Real m_min;
    Real m_max;
  };  // class Extremum

  LimitsConfig(
    Extremum longitudinal_velocity_mps,
    Extremum lateral_velocity_mps,
    Extremum acceleration_mps2,
    Extremum yaw_rate_rps,
    Extremum jerk_mps3,
    Extremum steer_angle_rad,
    Extremum steer_angle_rate_rps);
  MOTION_COMMON_COPY_MOVE_ASSIGNABLE(LimitsConfig)

  Extremum longitudinal_velocity() const noexcept;
  Extremum lateral_velocity() const noexcept;
  Extremum acceleration() const noexcept;
  Extremum jerk() const noexcept;
  Extremum yaw_rate() const noexcept;
  Extremum steer_angle() const noexcept;
  Extremum steer_angle_rate() const noexcept;

private:
  Extremum m_longitudinal_velocity_limits_mps;
  Extremum m_lateral_velocity_limits_mps;
  Extremum m_acceleration_limits_mps2;
  Extremum m_yaw_rate_limits_rps;
  Extremum m_jerk_limits_mps3;
  Extremum m_steer_angle_limits_rad;
  Extremum m_steer_angle_rate_limits_rps;
};  // class LimitsConfig

class MOTION_COMMON_PUBLIC VehicleConfig
{
public:
  VehicleConfig(
    Real length_cg_front_axel_m,
    Real length_cg_rear_axel_m,
    Real front_cornering_stiffness_N,
    Real rear_cornering_stiffness_N,
    Real mass_kg,
    Real inertia_kgm2,
    Real width_m,
    Real front_overhang_m,
    Real rear_overhang_m);
  MOTION_COMMON_COPY_MOVE_ASSIGNABLE(VehicleConfig)

  Real length_cg_front_axel() const noexcept;
  Real length_cg_rear_axel() const noexcept;
  Real front_cornering_stiffness() const noexcept;
  Real rear_cornering_stiffness() const noexcept;
  Real mass() const noexcept;
  Real inertia() const noexcept;
  Real width() const noexcept;
  Real front_overhang() const noexcept;
  Real rear_overhang() const noexcept;

private:
  Real m_length_cg_to_front_axel_m;
  Real m_length_cg_to_rear_axel_m;
  Real m_front_cornering_stiffness_N;
  Real m_rear_cornering_stiffness_N;
  Real m_mass_kg;
  Real m_inertia_kgm2;
  Real m_width_m;
  Real m_front_overhang_m;
  Real m_rear_overhang_m;
};  // class VehicleConfig

class MOTION_COMMON_PUBLIC StateWeight
{
public:
  StateWeight(
    Real pose,
    Real heading,
    Real longitudinal_velocity,
    Real lateral_velocity,
    Real yaw_rate,
    Real acceleration,
    Real jerk,
    Real steer_angle,
    Real steer_angle_rate);
  MOTION_COMMON_COPY_MOVE_ASSIGNABLE(StateWeight)

  Real pose() const noexcept;
  Real heading() const noexcept;
  Real longitudinal_velocity() const noexcept;
  Real lateral_velocity() const noexcept;
  Real yaw_rate() const noexcept;
  Real acceleration() const noexcept;
  Real jerk() const noexcept;
  Real steer_angle() const noexcept;
  Real steer_angle_rate() const noexcept;

private:
  Real m_pose_weight;
  Real m_heading_weight;
  Real m_longitudinal_velocity_weight;
  Real m_lateral_velocity_weight;
  Real m_yaw_rate_weight;
  Real m_acceleration_weight;
  Real m_jerk_weight;
  Real m_steer_angle_weight;
  Real m_steer_angle_rate_weight;
};  // class StateWeight

class MOTION_COMMON_PUBLIC OptimizationConfig
{
public:
  OptimizationConfig(
    StateWeight nominal_weights,
    StateWeight terminal_weights);
  MOTION_COMMON_COPY_MOVE_ASSIGNABLE(OptimizationConfig)

  StateWeight nominal() const noexcept;
  StateWeight terminal() const noexcept;

private:
  StateWeight m_nominal_weights;
  StateWeight m_terminal_weights;
};  // class OptimizationConfig
}  // namespace motion_common
}  // namespace motion
#endif  // MOTION_COMMON__CONFIG_HPP_