world_position.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__WORLD_POSITION_HPP_
#define OPENSCENARIO_INTERPRETER__SYNTAX__WORLD_POSITION_HPP_
 
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <openscenario_interpreter/scope.hpp>
#include <openscenario_interpreter/simulator_core.hpp>
#include <openscenario_interpreter/syntax/double.hpp>
#include <pugixml.hpp>
#include <traffic_simulator_msgs/msg/lanelet_pose.hpp>
 
namespace openscenario_interpreter
{
inline namespace syntax
{
/* ---- WorldPosition 1.2 ------------------------------------------------------
 *
 *  <xsd:complexType name="WorldPosition">
 *    <xsd:attribute name="x" type="Double" use="required"/>
 *    <xsd:attribute name="y" type="Double" use="required"/>
 *    <xsd:attribute name="z" type="Double" use="optional"/>
 *    <xsd:attribute name="h" type="Double" use="optional"/>
 *    <xsd:attribute name="p" type="Double" use="optional"/>
 *    <xsd:attribute name="r" type="Double" use="optional"/>
 *  </xsd:complexType>
 *
 * -------------------------------------------------------------------------- */
struct WorldPosition : private SimulatorCore::CoordinateSystemConversion
{
  const Double x, y, z, h, p, r;
 
  explicit WorldPosition(const pugi::xml_node &, Scope &);
 
  explicit operator NativeLanePosition() const;
 
  explicit operator NativeWorldPosition() const;
};
}  // namespace syntax
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__WORLD_POSITION_HPP_