scenario_simulator_v2 C++ API
relative_world_position.hpp
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1 // Copyright 2015 TIER IV, Inc. All rights reserved.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
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14 
15 #ifndef OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_WORLD_POSITION_HPP_
16 #define OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_WORLD_POSITION_HPP_
17 
23 #include <pugixml.hpp>
24 #include <traffic_simulator_msgs/msg/lanelet_pose.hpp>
25 
27 {
28 inline namespace syntax
29 {
30 /* ---- RelativeWorldPosition --------------------------------------------------
31  *
32  * <xsd:complexType name="RelativeWorldPosition">
33  * <xsd:all>
34  * <xsd:element name="Orientation" type="Orientation" minOccurs="0"/>
35  * </xsd:all>
36  * <xsd:attribute name="entityRef" type="String" use="required"/>
37  * <xsd:attribute name="dx" type="Double" use="required"/>
38  * <xsd:attribute name="dy" type="Double" use="required"/>
39  * <xsd:attribute name="dz" type="Double" use="optional"/>
40  * </xsd:complexType>
41  *
42  * -------------------------------------------------------------------------- */
44 {
46 
48 
49  const Double dx, dy, dz;
50 
51  explicit RelativeWorldPosition(const pugi::xml_node &, Scope &);
52 
53  operator geometry_msgs::msg::Point() const;
54 
55  explicit operator NativeLanePosition() const;
56 
57  explicit operator NativeWorldPosition() const;
58 };
59 } // namespace syntax
60 } // namespace openscenario_interpreter
61 
62 #endif // OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_WORLD_POSITION_HPP_
Definition: scope.hpp:154
Definition: escape_sequence.hpp:22
traffic_simulator::CanonicalizedLaneletPose NativeLanePosition
Definition: simulator_core.hpp:35
geometry_msgs::msg::Pose NativeWorldPosition
Definition: simulator_core.hpp:31
Definition: orientation.hpp:39
Definition: relative_world_position.hpp:44
const Orientation orientation
Definition: relative_world_position.hpp:45
const Double dx
Definition: relative_world_position.hpp:49
const Entity entity_ref
Definition: relative_world_position.hpp:47
const Double dy
Definition: relative_world_position.hpp:49
const Double dz
Definition: relative_world_position.hpp:49
RelativeWorldPosition(const pugi::xml_node &, Scope &)
Definition: relative_world_position.cpp:23