ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::fun::VehicleMotionState9d Class Reference

#include <vehiclemotionstate9d.h>

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Public Member Functions

 VehicleMotionState9d ()
 
double getTime () const
 
double getX () const
 
double getY () const
 
double getZ () const
 
double getPSI () const
 
double getvx () const
 
double getvy () const
 
double getOmega () const
 
double getAx () const
 
double getDelta () const
 
void setTime (double value)
 
void setX (double value)
 
void setY (double value)
 
void setZ (double value)
 
void setPSI (double value)
 
void setvx (double value)
 
void setvy (double value)
 
void setOmega (double value)
 
void setAx (double value)
 
void setDelta (double value)
 
template<class T , typename = std::enable_if_t< std::is_same<T,PlanarVehicleState10d>::value>>
void copyFromPlanar (const T &other)
 Offers the possibility to copy relevant fields from a PlanarVehicleState10d to VehicleMotionState9d. More...
 

Public Attributes

double time_
 
adoreMatrix< double, 9, 1 > data_
 

Detailed Description

Structure which contains vehicle motion states and time, used as observed state, input to planning and control modules. [ pX, pY, pZ, psi, vx, vy at COR, omega, ax, delta, ]

Constructor & Destructor Documentation

◆ VehicleMotionState9d()

adore::fun::VehicleMotionState9d::VehicleMotionState9d ( )
inline

Member Function Documentation

◆ copyFromPlanar()

template<class T , typename = std::enable_if_t< std::is_same<T,PlanarVehicleState10d>::value>>
void adore::fun::VehicleMotionState9d::copyFromPlanar ( const T &  other)
inline

Offers the possibility to copy relevant fields from a PlanarVehicleState10d to VehicleMotionState9d.

this construct is used to circumvent issues that arise from the mainly header-only nature of the framework while a copy constructor for the reverse copy order already existed, this new function was not possible to implement in the same way due to issues with cyclic header dependencies

Template Parameters
T
std::enable_if_t<std::is_same<T,PlanarVehicleState10d>::value>
Parameters
othera PlanarVehicleState10d object
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◆ getAx()

double adore::fun::VehicleMotionState9d::getAx ( ) const
inline

returns acceleration in x coordinate

◆ getDelta()

double adore::fun::VehicleMotionState9d::getDelta ( ) const
inline

returns steering angle

◆ getOmega()

double adore::fun::VehicleMotionState9d::getOmega ( ) const
inline

returns omega (yaw rate)

◆ getPSI()

double adore::fun::VehicleMotionState9d::getPSI ( ) const
inline

returns PSI (heading)

◆ getTime()

double adore::fun::VehicleMotionState9d::getTime ( ) const
inline

returns time

◆ getvx()

double adore::fun::VehicleMotionState9d::getvx ( ) const
inline

returns velocity in x coordinate

◆ getvy()

double adore::fun::VehicleMotionState9d::getvy ( ) const
inline

returns velocity in y coordinate

◆ getX()

double adore::fun::VehicleMotionState9d::getX ( ) const
inline

returns X

◆ getY()

double adore::fun::VehicleMotionState9d::getY ( ) const
inline

returns Y

◆ getZ()

double adore::fun::VehicleMotionState9d::getZ ( ) const
inline

returns Z

◆ setAx()

void adore::fun::VehicleMotionState9d::setAx ( double  value)
inline

to set the Ax (acceleration in x coordinate)

Parameters
valueis Ax

◆ setDelta()

void adore::fun::VehicleMotionState9d::setDelta ( double  value)
inline

to set the Delta (steering angle)

Parameters
valueis Delta

◆ setOmega()

void adore::fun::VehicleMotionState9d::setOmega ( double  value)
inline

to set the Omega (yaw rate)

Parameters
valueis Omega

◆ setPSI()

void adore::fun::VehicleMotionState9d::setPSI ( double  value)
inline

to set the PSI (heading)

Parameters
valueis PSI

◆ setTime()

void adore::fun::VehicleMotionState9d::setTime ( double  value)
inline

to set the time

Parameters
valueis time

◆ setvx()

void adore::fun::VehicleMotionState9d::setvx ( double  value)
inline

to set the vx (velocity in x coordinate)

Parameters
valueis vx

◆ setvy()

void adore::fun::VehicleMotionState9d::setvy ( double  value)
inline

to set the vy (velocity in y coordinate)

Parameters
valueis vy

◆ setX()

void adore::fun::VehicleMotionState9d::setX ( double  value)
inline

to set the X

Parameters
valueis X

◆ setY()

void adore::fun::VehicleMotionState9d::setY ( double  value)
inline

to set the Y

Parameters
valueis Y

◆ setZ()

void adore::fun::VehicleMotionState9d::setZ ( double  value)
inline

to set the Z

Parameters
valueis Z

Member Data Documentation

◆ data_

adoreMatrix<double, 9, 1> adore::fun::VehicleMotionState9d::data_

◆ time_

double adore::fun::VehicleMotionState9d::time_

The documentation for this class was generated from the following file: