hypot.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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 OPENSCENARIO_INTERPRETER__CMATH__HYPOT_HPP_
#define OPENSCENARIO_INTERPRETER__CMATH__HYPOT_HPP_
 
#include <cmath>
#include <rclcpp/rclcpp.hpp>
 
namespace openscenario_interpreter
{
inline namespace cmath
{
/*
   @todo: after checking all the scenario work well with
   consider_pose_by_road_slope = true, remove this function and use
   std::hypot(x, y, z)
*/
template <typename T>
auto hypot(T x, T y, T z)
{
  static const auto consider_pose_by_road_slope = []() {
    auto node = rclcpp::Node("get_parameter", "simulation");
    node.declare_parameter("consider_pose_by_road_slope", false);
    return node.get_parameter("consider_pose_by_road_slope").as_bool();
  }();
 
  return consider_pose_by_road_slope ? std::hypot(x, y, z) : std::hypot(x, y);
}
}  // namespace cmath
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__CMATH__HYPOT_HPP_