common_states.hpp

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// Copyright 2021 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.
//
// Developed by Apex.AI, Inc.
 
 
#ifndef KALMAN_FILTER__COMMON_STATES_HPP_
#define KALMAN_FILTER__COMMON_STATES_HPP_
 
#include <kalman_filter/common_variables.hpp>
#include <kalman_filter/generic_state.hpp>
 
namespace autoware
{
namespace prediction
{
namespace state
{
 
using ConstAccelerationXY =
  FloatState<
  variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
  variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION>;
 
using ConstAccelerationXYYaw =
  FloatState<
  variable::X, variable::X_VELOCITY, variable::X_ACCELERATION,
  variable::Y, variable::Y_VELOCITY, variable::Y_ACCELERATION,
  variable::YAW, variable::YAW_CHANGE_RATE, variable::YAW_CHANGE_ACCELERATION>;
 
using ConstantAccelerationAndTurnRate =
  FloatState<
  variable::X, variable::Y, variable::YAW,
  variable::XY_VELOCITY, variable::YAW_CHANGE_RATE,
  variable::XY_ACCELERATION>;
 
using ConstantVelocityAndTurnRate =
  FloatState<
  variable::X, variable::Y, variable::YAW,
  variable::XY_VELOCITY, variable::YAW_CHANGE_RATE>;
 
}  // namespace state
}  // namespace prediction
}  // namespace autoware
 
#endif  // KALMAN_FILTER__COMMON_STATES_HPP_