TrackPos.hpp

Go to the documentation of this file.

#pragma once
 
/*
 * Copyright (C) 2022 LEIDOS.
 *
 * 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.
 */
 
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/Point.h>
 
namespace carma_wm
{
class TrackPos
{
public:
    double downtrack = 0;
    double crosstrack = 0;
    
  TrackPos(double down_track, double cross_track) : downtrack(down_track), crosstrack(cross_track)
  {
  }
  TrackPos(const lanelet::ArcCoordinates& arc_coord) : downtrack(arc_coord.length), crosstrack(-arc_coord.distance)
  {
  }
 
  inline lanelet::ArcCoordinates toArcCoordinates()
  {
    return lanelet::ArcCoordinates{ downtrack, -crosstrack };
  }
 
    // Overload == and != operators
  bool operator==(const TrackPos& other) const
  {
    return this == &other || (this->downtrack == other.downtrack && this->crosstrack == other.crosstrack);
  }
 
  bool operator!=(const TrackPos& other) const
  {
    return !(*this == other);
  }
};
} //namespace carma_wm