ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
planarvehiclestate10d.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Daniel Heß - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 #include <adore/mad/adoremath.h>
19 
20 namespace adore
21 {
22  namespace fun
23  {
24 
41  {
42  public:
45  {
46  this->data = other.data;
47  }
49  {
50  this->setX(other.getX());
51  this->setY(other.getY());
52  this->setPSI(other.getPSI());
53  this->setvx(other.getvx());
54  this->setvy(other.getvy());
55  this->setOmega(other.getOmega());
56  this->setAx(other.getAx());
57  this->setDelta(other.getDelta());
58  this->setDAx(0.0);
59  this->setDDelta(0.0);
60  }
61  adoreMatrix<double, 10, 1> data;
62  double getX()const { return data(0, 0); }
63  double getY()const { return data(1, 0); }
64  double getPSI()const { return data(2, 0); }
65  double getvx()const { return data(3, 0); }
66  double getvy()const { return data(4, 0); }
67  double getOmega()const { return data(5, 0); }
68  double getAx()const { return data(6, 0); }
69  double getDelta()const { return data(7, 0); }
70  double getDAx()const { return data(8, 0); }
71  double getDDelta()const { return data(9, 0); }
72 
73  void setX(double value) { data(0, 0) = value; }
74  void setY(double value) { data(1, 0) = value; }
75  void setPSI(double value) { data(2, 0) = value; }
76  void setvx(double value) { data(3, 0) = value; }
77  void setvy(double value) { data(4, 0) = value; }
78  void setOmega(double value) { data(5, 0) = value; }
79  void setAx(double value) { data(6, 0) = value; }
80  void setDelta(double value) { data(7, 0) = value; }
81  void setDAx(double value) { data(8, 0) = value; }
82  void setDDelta(double value) { data(9, 0) = value; }
83  };
84  }
85 }
Definition: areaofeffectconverter.h:20
This struct holds the motion state of the vehicle in 9d.
Definition: vehiclemotionstate9d.h:39
double getX() const
Get the x-coordinate.
Definition: vehiclemotionstate9d.h:54
double getvx() const
Get the longitudinal velocity.
Definition: vehiclemotionstate9d.h:78
double getOmega() const
Get the yaw rate.
Definition: vehiclemotionstate9d.h:90
double getY() const
Get the y-coordinate.
Definition: vehiclemotionstate9d.h:60
double getPSI() const
Get the heading.
Definition: vehiclemotionstate9d.h:72
double getAx() const
Get the longitudinal acceleration.
Definition: vehiclemotionstate9d.h:96
double getvy() const
Get the lateral velocity.
Definition: vehiclemotionstate9d.h:84
double getDelta() const
Get the steering angle.
Definition: vehiclemotionstate9d.h:102
Definition: planarvehiclestate10d.h:41
double getvx() const
Definition: planarvehiclestate10d.h:65
double getX() const
Definition: planarvehiclestate10d.h:62
void setDDelta(double value)
Definition: planarvehiclestate10d.h:82
double getDelta() const
Definition: planarvehiclestate10d.h:69
void setDAx(double value)
Definition: planarvehiclestate10d.h:81
double getPSI() const
Definition: planarvehiclestate10d.h:64
double getDDelta() const
Definition: planarvehiclestate10d.h:71
adoreMatrix< double, 10, 1 > data
Definition: planarvehiclestate10d.h:61
double getvy() const
Definition: planarvehiclestate10d.h:66
double getOmega() const
Definition: planarvehiclestate10d.h:67
void setvx(double value)
Definition: planarvehiclestate10d.h:76
void setY(double value)
Definition: planarvehiclestate10d.h:74
double getY() const
Definition: planarvehiclestate10d.h:63
void setOmega(double value)
Definition: planarvehiclestate10d.h:78
PlanarVehicleState10d(const VehicleMotionState9d &other)
Definition: planarvehiclestate10d.h:48
void setvy(double value)
Definition: planarvehiclestate10d.h:77
void setX(double value)
Definition: planarvehiclestate10d.h:73
double getAx() const
Definition: planarvehiclestate10d.h:68
void setDelta(double value)
Definition: planarvehiclestate10d.h:80
double getDAx() const
Definition: planarvehiclestate10d.h:70
void setPSI(double value)
Definition: planarvehiclestate10d.h:75
void setAx(double value)
Definition: planarvehiclestate10d.h:79
PlanarVehicleState10d()
Definition: planarvehiclestate10d.h:43
PlanarVehicleState10d(const PlanarVehicleState10d &other)
Definition: planarvehiclestate10d.h:44