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51 changes: 51 additions & 0 deletions
51
.../autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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|
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| #ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ | ||
| #define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ | ||
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| #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp> | ||
| #include <autoware_adapi_v1_msgs/msg/steering_factor.hpp> | ||
| #include <geometry_msgs/msg/pose.hpp> | ||
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| #include <string> | ||
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| namespace autoware::motion_utils | ||
| { | ||
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| using autoware_adapi_v1_msgs::msg::PlanningBehavior; | ||
| using autoware_adapi_v1_msgs::msg::SteeringFactor; | ||
| using SteeringFactorBehavior = SteeringFactor::_behavior_type; | ||
| using SteeringFactorStatus = SteeringFactor::_status_type; | ||
| using geometry_msgs::msg::Pose; | ||
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| class SteeringFactorInterface | ||
| { | ||
| public: | ||
| [[nodiscard]] SteeringFactor get() const { return steering_factor_; } | ||
| void init(const SteeringFactorBehavior & behavior) { behavior_ = behavior; } | ||
| void reset() { steering_factor_.behavior = PlanningBehavior::UNKNOWN; } | ||
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| void set( | ||
| const std::array<Pose, 2> & pose, const std::array<double, 2> distance, | ||
| const uint16_t direction, const uint16_t status, const std::string & detail = ""); | ||
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| private: | ||
| SteeringFactorBehavior behavior_{SteeringFactor::UNKNOWN}; | ||
| SteeringFactor steering_factor_{}; | ||
| }; | ||
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| } // namespace autoware::motion_utils | ||
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| #endif // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_ |
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32 changes: 32 additions & 0 deletions
32
common/autoware_motion_utils/src/factor/steering_factor_interface.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,32 @@ | ||
| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
|
|
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| #include <autoware/motion_utils/factor/steering_factor_interface.hpp> | ||
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| namespace autoware::motion_utils | ||
| { | ||
| void SteeringFactorInterface::set( | ||
| const std::array<Pose, 2> & pose, const std::array<double, 2> distance, const uint16_t direction, | ||
| const uint16_t status, const std::string & detail) | ||
| { | ||
| steering_factor_.pose = pose; | ||
| std::array<float, 2> converted_distance{0.0, 0.0}; | ||
| for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast<float>(distance[i]); | ||
| steering_factor_.distance = converted_distance; | ||
| steering_factor_.behavior = behavior_; | ||
| steering_factor_.direction = direction; | ||
| steering_factor_.status = status; | ||
| steering_factor_.detail = detail; | ||
| } | ||
| } // namespace autoware::motion_utils |
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