anominalplanner.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
#include <adore/fun/setpointrequest.h>
#include <adore/fun/vehiclemotionstate9d.h>
 
namespace adore
{
  namespace fun
  {
    class ANominalPlanner
    {
      public:
        virtual void compute(const VehicleMotionState9d& initial_state) = 0;
        virtual bool hasValidPlan()const = 0;
        virtual const SetPointRequest* getSetPointRequest()const =0;
        virtual double getCPUTime()const  = 0;
    };
 
    class ANominalConstraint
    {
      public:
        enum ConstraintDirection
        {
          LB,UB
        };
        virtual double getValue(double t,double s,double ds)const =0;
        virtual void update(double t0,double s0,double ds0)=0;
        virtual ConstraintDirection getDirection()=0;
        virtual int getDimension()=0;
        virtual int getDerivative()=0;
    };
 
    class ANominalReference
    {
      public:
        virtual bool getValueIfAvailable(double t, double s, double ds,double & ref)const =0;
        virtual void update(double t0,double s0,double ds0)=0;
        virtual int getDimension()=0;
        virtual int getDerivative()=0;
    };
  }
}