vehicle_state_provider.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. 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.
 *****************************************************************************/
#pragma once

#include <memory>
#include <string>

#include "modules/canbus/proto/chassis.pb.h"
#include "modules/common/math/box2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/status/status.h"
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/localization/proto/localization.pb.h"

namespace apollo {
namespace common {

class VehicleStateProvider {
 public:
  Status Update(const localization::LocalizationEstimate& localization,
                const canbus::Chassis& chassis);

  void Update(const std::string& localization_file,
              const std::string& chassis_file);

  double timestamp() const;

  const localization::Pose& pose() const;
  const localization::Pose& original_pose() const;

  virtual ~VehicleStateProvider() = default;

  double x() const;

  double y() const;

  double z() const;

  double kappa() const;

  double roll() const;

  double pitch() const;

  double yaw() const;

  double heading() const;

  double linear_velocity() const;

  double angular_velocity() const;

  double linear_acceleration() const;

  double gear() const;

  double steering_percentage() const;

  void set_linear_velocity(const double linear_velocity);

  math::Vec2d EstimateFuturePosition(const double t) const;

  math::Vec2d ComputeCOMPosition(const double rear_to_com_distance) const;

  const VehicleState& vehicle_state() const;

 private:
  bool ConstructExceptLinearVelocity(
      const localization::LocalizationEstimate& localization);

  common::VehicleState vehicle_state_;
  localization::LocalizationEstimate original_localization_;
};

}  // namespace common
}  // namespace apollo