sim_model_interface.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 SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
 
#include <autoware_vehicle_msgs/msg/gear_command.hpp>
#include <eigen3/Eigen/Core>
 
class SimModelInterface
{
protected:
  const int dim_x_;        
  const int dim_u_;        
  Eigen::VectorXd state_;  
  Eigen::VectorXd input_;  
 
  uint8_t gear_ = autoware_vehicle_msgs::msg::GearCommand::DRIVE;
 
public:
  SimModelInterface(int dim_x, int dim_u);
 
  ~SimModelInterface() = default;
 
  void getState(Eigen::VectorXd & state);
 
  void getInput(Eigen::VectorXd & input);
 
  void setState(const Eigen::VectorXd & state);
 
  void setInput(const Eigen::VectorXd & input);
 
  void setGear(const uint8_t gear);
 
  void updateRungeKutta(const double & dt, const Eigen::VectorXd & input);
 
  void updateEuler(const double & dt, const Eigen::VectorXd & input);
 
  virtual void update(const double & dt) = 0;
 
  virtual double getX() = 0;
 
  virtual double getY() = 0;
 
  virtual double getYaw() = 0;
 
  virtual double getVx() = 0;
 
  virtual double getVy() = 0;
 
  virtual double getAx() = 0;
 
  virtual double getWz() = 0;
 
  virtual double getSteer() = 0;
 
  uint8_t getGear() const;
 
  inline int getDimX() { return dim_x_; }
 
  inline int getDimU() { return dim_u_; }
 
  virtual Eigen::VectorXd calcModel(
    const Eigen::VectorXd & state, const Eigen::VectorXd & input) = 0;
};
 
#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_