covariance_insertion.hpp

Go to the documentation of this file.

// Copyright 2020 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.


#ifndef COVARIANCE_INSERTION__COVARIANCE_INSERTION_HPP_
#define COVARIANCE_INSERTION__COVARIANCE_INSERTION_HPP_

#include <common/types.hpp>
#include <covariance_insertion/add_covariance.hpp>
#include <covariance_insertion/visibility_control.hpp>

#include <map>
#include <string>
#include <vector>

namespace autoware
{
namespace covariance_insertion
{
class COVARIANCE_INSERTION_PUBLIC CovarianceInsertion
{
public:
  CovarianceInsertion();

  template<typename MsgT>
  void set_all_covariances(MsgT * msg)
  {
    if (!msg) {return;}
    for (const auto & kv : m_covariances) {
      const auto & field = kv.first;
      const auto & covariance = kv.second;
      add_covariance(msg, covariance, field);
    }
  }

  bool covariances_empty();

  void insert_covariance(
    const std::string & field,
    const std::vector<common::types::float64_t> & covariance);

private:
  std::map<std::string, std::vector<common::types::float64_t>> m_covariances;
};
}  // namespace covariance_insertion
}  // namespace autoware

#endif  // COVARIANCE_INSERTION__COVARIANCE_INSERTION_HPP_