waypoint.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__SYNTAX__WAYPOINT_HPP_
#define OPENSCENARIO_INTERPRETER__SYNTAX__WAYPOINT_HPP_
 
#include <openscenario_interpreter/scope.hpp>
#include <openscenario_interpreter/syntax/position.hpp>
#include <openscenario_interpreter/syntax/route_strategy.hpp>
#include <pugixml.hpp>
 
namespace openscenario_interpreter
{
inline namespace syntax
{
/* ---- Waypoint ---------------------------------------------------------------
 *
 *  <xsd:complexType name="Waypoint">
 *    <xsd:sequence>
 *      <xsd:element name="Position" type="Position"/>
 *    </xsd:sequence>
 *    <xsd:attribute name="routeStrategy" type="RouteStrategy" use="required"/>
 *  </xsd:complexType>
 *
 * -------------------------------------------------------------------------- */
struct Waypoint : private SimulatorCore::CoordinateSystemConversion
{
  const RouteStrategy route_strategy;
 
  const Position position;
 
  explicit Waypoint(const pugi::xml_node &, Scope &);
 
  explicit operator NativeLanePosition() const;
};
}  // namespace syntax
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__WAYPOINT_HPP_