mobility_path_to_external_object_helpers.hpp

Go to the documentation of this file.

// Copyright 2020-2023 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.
 
#ifndef MOTION_COMPUTATION__IMPL__MOBILITY_PATH_TO_EXTERNAL_OBJECT_HELPERS_HPP_
#define MOTION_COMPUTATION__IMPL__MOBILITY_PATH_TO_EXTERNAL_OBJECT_HELPERS_HPP_
 
#include <lanelet2_extension/projection/local_frame_projector.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Vector3.h>
 
#include <tuple>
#include <utility>
 
#include <rclcpp/time.hpp>
 
#include <carma_perception_msgs/msg/external_object.hpp>
#include <carma_perception_msgs/msg/predicted_state.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
 
namespace motion_computation
{
namespace conversion
{
namespace impl
{
std::pair<carma_perception_msgs::msg::PredictedState, double> composePredictedState(
  const tf2::Vector3 & curr_pt, const tf2::Vector3 & prev_pt, const rclcpp::Time & prev_time_stamp,
  const rclcpp::Time & curr_time_stamp, double prev_yaw);
void calculateAngVelocityOfPredictedStates(carma_perception_msgs::msg::ExternalObject & object);
 
double getYawFromQuaternionMsg(const geometry_msgs::msg::Quaternion & quaternion);
 
tf2::Vector3 transform_to_map_frame(
  const tf2::Vector3 & ecef_point, const lanelet::projection::LocalFrameProjector & map_projector);
 
}  // namespace impl
}  // namespace conversion
}  // namespace motion_computation
 
#endif  // MOTION_COMPUTATION__IMPL__MOBILITY_PATH_TO_EXTERNAL_OBJECT_HELPERS_HPP_