vehiclemotionstate9d.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/mad/adoremath.h>
#include <type_traits>
 
namespace adore
{
    namespace fun
    {
        struct PlanarVehicleState10d;
        class SetPoint;
        class VehicleMotionState9d
        {
        public:
            VehicleMotionState9d()
            {
                time_ = 0.0;
                for(int i=0;i<9;i++)data_(i)=0.0;
            }
 
            double time_;
            adoreMatrix<double, 9, 1> data_;
            double getTime()const {return time_;}
            double getX()const { return data_(0, 0); }
            double getY()const { return data_(1, 0); }
            double getZ()const { return data_(2, 0); }
            double getPSI()const { return data_(3, 0); }
            double getvx()const { return data_(4, 0); }
            double getvy()const { return data_(5, 0); }
            double getOmega()const { return data_(6, 0); }
            double getAx()const { return data_(7, 0); }
            double getDelta()const { return data_(8, 0); }
            void setTime(double value){time_=value;}
            void setX(double value) { data_(0, 0) = value; }
            void setY(double value) {  data_(1, 0) = value; }
            void setZ(double value) {  data_(2, 0) = value; }
            void setPSI(double value) {  data_(3, 0) = value; }
            void setvx(double value) {  data_(4, 0) = value; }
            void setvy(double value) {  data_(5, 0) = value; }
            void setOmega(double value) {  data_(6, 0) = value; }
            void setAx(double value) {  data_(7, 0) = value; }
            void setDelta(double value) {  data_(8, 0) = value; }
 
            template<class T, 
                typename = std::enable_if_t< std::is_same<T,PlanarVehicleState10d>::value> >
            void copyFromPlanar(const T& other)
            {       
                this->setX(other.getX());
                this->setY(other.getY());
                // this->setZ(0.0);
                this->setPSI(other.getPSI());
                this->setvx(other.getvx());
                this->setvy(other.getvy());
                this->setOmega(other.getOmega());
                this->setAx(other.getAx());
                this->setDelta(other.getDelta());
            }
        };
    }
}