motion_model.hpp

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// Copyright 2018 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 MOTION_MODEL__MOTION_MODEL_HPP_
#define MOTION_MODEL__MOTION_MODEL_HPP_

#include <common/types.hpp>
#include <Eigen/Core>
#include <chrono>
#include "motion_model/visibility_control.hpp"

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

namespace autoware
{
namespace motion
{
namespace motion_model
{

using index_t = Eigen::Index;

template<int32_t NumStates>
class MOTION_MODEL_PUBLIC MotionModel
{
public:
  virtual void predict(
    Eigen::Matrix<float32_t, NumStates, 1U> & x,
    const std::chrono::nanoseconds & dt) const = 0;
  virtual void predict(const std::chrono::nanoseconds & dt) = 0;
  virtual void compute_jacobian(
    Eigen::Matrix<float32_t, NumStates, NumStates> & F,
    const std::chrono::nanoseconds & dt) = 0;
  virtual void compute_jacobian_and_predict(
    Eigen::Matrix<float32_t, NumStates, NumStates> & F,
    const std::chrono::nanoseconds & dt) = 0;
  virtual float32_t operator[](const index_t idx) const = 0;
  virtual void reset(const Eigen::Matrix<float32_t, NumStates, 1U> & x) = 0;
  virtual const Eigen::Matrix<float32_t, NumStates, 1U> & get_state() const = 0;
  constexpr index_t get_num_states() const noexcept {return NumStates;}

  virtual ~MotionModel() = default;

private:
  MotionModel<NumStates> & operator=(const MotionModel<NumStates> & rhs) = delete;
};  // class MotionModel
}  // namespace motion_model
}  // namespace motion
}  // namespace autoware

#endif  // MOTION_MODEL__MOTION_MODEL_HPP_