control/pure_pursuit/include/pure_pursuit/config.hpp

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// Copyright 2019 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 PURE_PURSUIT__CONFIG_HPP_
#define PURE_PURSUIT__CONFIG_HPP_

#include <pure_pursuit/visibility_control.hpp>
#include <common/types.hpp>

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

namespace autoware
{
namespace motion
{
namespace control
{
namespace pure_pursuit
{
class PURE_PURSUIT_PUBLIC Config
{
public:
  Config(
    const float32_t minimum_lookahead_distance,
    const float32_t maximum_lookahead_distance,
    const float32_t speed_to_lookahead_ratio,
    const bool8_t is_interpolate_lookahead_point,
    const bool8_t is_delay_compensation,
    const float32_t emergency_stop_distance,
    const float32_t speed_thres_traveling_direction,
    const float32_t distance_front_rear_wheel);
  float32_t get_minimum_lookahead_distance() const noexcept;
  float32_t get_maximum_lookahead_distance() const noexcept;
  float32_t get_speed_to_lookahead_ratio() const noexcept;
  bool8_t get_is_interpolate_lookahead_point() const noexcept;
  bool8_t get_is_delay_compensation() const noexcept;
  float32_t get_emergency_stop_distance() const noexcept;
  float32_t get_speed_thres_traveling_direction() const noexcept;
  float32_t get_distance_front_rear_wheel() const noexcept;

private:
  float32_t m_minimum_lookahead_distance;
  float32_t m_maximum_lookahead_distance;
  float32_t m_speed_to_lookahead_ratio;
  bool8_t m_is_interpolate_lookahead_point;
  bool8_t m_is_delay_compensation;
  float32_t m_emergency_stop_distance;
  float32_t m_speed_thres_traveling_direction;
  float32_t m_distance_front_rear_wheel;
};  // class Config
}  // namespace pure_pursuit
}  // namespace control
}  // namespace motion
}  // namespace autoware

#endif  // PURE_PURSUIT__CONFIG_HPP_