steady_time_grid.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 STATE_ESTIMATION_NODES__STEADY_TIME_GRID_HPP_
#define STATE_ESTIMATION_NODES__STEADY_TIME_GRID_HPP_

#include <state_estimation_nodes/measurement.hpp>

#include <algorithm>
#include <chrono>
#include <utility>

namespace autoware
{
namespace prediction
{

class SteadyTimeGrid
{
public:
  SteadyTimeGrid() = default;

  SteadyTimeGrid(
    const std::chrono::system_clock::time_point & measurement_timestamp,
    const std::chrono::system_clock::duration & interval_between_timestamps)
  : m_first_measurement_timestamp{measurement_timestamp},
    m_interval_between_timestamps{interval_between_timestamps} {}

  inline std::chrono::system_clock::time_point get_next_timestamp_after(
    const std::chrono::system_clock::time_point & current_timestamp) const noexcept
  {
    const auto prev_time_index =
      (current_timestamp - m_first_measurement_timestamp) / m_interval_between_timestamps;
    return m_first_measurement_timestamp + (prev_time_index + 1L) * m_interval_between_timestamps;
  }

  inline bool is_initialized() const noexcept
  {
    return m_first_measurement_timestamp > std::chrono::system_clock::time_point{};
  }

private:
  std::chrono::system_clock::time_point m_first_measurement_timestamp{};
  std::chrono::system_clock::duration m_interval_between_timestamps{};
};


}  // namespace prediction
}  // namespace autoware

#endif  // STATE_ESTIMATION_NODES__STEADY_TIME_GRID_HPP_