measurement_interface.hpp

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// Copyright 2021 Apex.AI, Inc
//
// 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 MEASUREMENT__MEASUREMENT_INTERFACE_HPP_
#define MEASUREMENT__MEASUREMENT_INTERFACE_HPP_

#include <kalman_filter/generic_state.hpp>
#include <helper_functions/crtp.hpp>

#include <type_traits>

namespace autoware
{
namespace prediction
{

template<typename Derived>
struct KALMAN_FILTER_PUBLIC MeasurementInterface : public common::helper_functions::crtp<Derived>
{
  auto & state()
  {
    using ReturnType = std::decay_t<decltype(this->impl().crtp_state())>;
    static_assert(is_state<ReturnType>::value, "\n\nFunction crtp_state must return a state.\n\n");
    return this->impl().crtp_state();
  }
  const auto & state() const
  {
    using ReturnType = std::decay_t<decltype(this->impl().crtp_state())>;
    static_assert(is_state<ReturnType>::value, "\n\nFunction crtp_state must return a state.\n\n");
    return this->impl().crtp_state();
  }

  auto & covariance() {return this->impl().crtp_covariance();}
  const auto & covariance() const {return this->impl().crtp_covariance();}

  auto & variances() {return this->impl().crtp_variances();}
  const auto & variances() const {return this->impl().crtp_variances();}

  template<typename OtherStateT>
  auto create_new_instance_from(const OtherStateT & other_state) const
  {
    static_assert(is_state<OtherStateT>::value, "\n\nThe other state must be a state.\n\n");
    using ReturnType =
      std::decay_t<decltype(this->impl().crtp_create_new_instance_from(other_state))>;
    static_assert(
      is_state<ReturnType>::value,
      "\n\nFunction crtp_create_new_instance_from must return a state.\n\n");
    return this->impl().crtp_create_new_instance_from(other_state);
  }

  template<typename OtherStateT>
  OtherStateT map_into(const OtherStateT & other_state) const
  {
    static_assert(is_state<OtherStateT>::value, "\n\nThe other state must be a state.\n\n");
    return this->impl().crtp_map_into(other_state);
  }

  template<typename OtherStateT>
  auto mapping_matrix_from(const OtherStateT & other_state) const
  {
    static_assert(is_state<OtherStateT>::value, "The other state must be a state.");
    return this->impl().crtp_mapping_matrix_from(other_state);
  }
};


}  // namespace prediction
}  // namespace autoware

#endif  // MEASUREMENT__MEASUREMENT_INTERFACE_HPP_