tracked_object.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.
 
 
#ifndef TRACKING__TRACKED_OBJECT_HPP_
#define TRACKING__TRACKED_OBJECT_HPP_
 
#include <chrono>
 
#include "autoware_auto_msgs/msg/detected_dynamic_object_array.hpp"
#include "autoware_auto_msgs/msg/tracked_dynamic_object.hpp"
#include "autoware_auto_msgs/msg/tracked_dynamic_object_array.hpp"
#include "kalman_filter/common_states.hpp"
#include "kalman_filter/kalman_filter.hpp"
#include "motion_model/linear_motion_model.hpp"
#include "motion_model/wiener_noise.hpp"
#include "tracking/visibility_control.hpp"
 
 
namespace autoware
{
namespace perception
{
namespace tracking
{
 
class TRACKING_PUBLIC TrackedObject
{
public:
  // Aliases for convenience
  using CA = autoware::prediction::state::ConstAccelerationXY;
  using MotionModel = autoware::prediction::LinearMotionModel<CA>;
  using NoiseModel = autoware::prediction::WienerNoise<CA>;
  using EKF = autoware::prediction::KalmanFilter<MotionModel, NoiseModel>;
  using TrackedObjectMsg = autoware_auto_msgs::msg::TrackedDynamicObject;
  using DetectedObjectMsg = autoware_auto_msgs::msg::DetectedDynamicObject;
 
  TrackedObject(const DetectedObjectMsg & detection, float default_variance, float noise_variance);
  // TODO(nikolai.morin): Change signature to use absolute time after #1002
  void predict(std::chrono::nanoseconds dt);
 
  void update(const DetectedObjectMsg & detection);
 
  void no_update();
 
  const TrackedObjectMsg & msg();
 
private:
  TrackedObjectMsg m_msg;
  EKF m_ekf;
  size_t m_ticks_since_last_seen = 0;
  size_t m_ticks_alive = 0;
};
 
}  // namespace tracking
}  // namespace perception
}  // namespace autoware
 
#endif  // TRACKING__TRACKED_OBJECT_HPP_