sim_model_ideal_steer_acc_geared.hpp

Go to the documentation of this file.

// 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 SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
 
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/LU>
#include <iostream>
#include <simple_sensor_simulator/vehicle_simulation/vehicle_model/sim_model_interface.hpp>
 
class SimModelIdealSteerAccGeared : public SimModelInterface
{
public:
  explicit SimModelIdealSteerAccGeared(double wheelbase);
 
  ~SimModelIdealSteerAccGeared() = default;
 
private:
  enum IDX { X = 0, Y, YAW, VX };
  enum IDX_U {
    AX_DES = 0,
    STEER_DES,
  };
 
  const double wheelbase_;  
  double current_acc_;      
 
  double getX() override;
 
  double getY() override;
 
  double getYaw() override;
 
  double getVx() override;
 
  double getVy() override;
 
  double getAx() override;
 
  double getWz() override;
 
  double getSteer() override;
 
  void update(const double & dt) override;
 
  Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 
  void updateStateWithGear(
    Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear,
    const double dt);
};
 
#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_