planarvehiclestate10d.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR). 
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the 
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0 
 *
 * Contributors: 
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
 
#pragma once
 
#include <adore/mad/adoremath.h>
#include <adore/fun/vehiclemotionstate9d.h>
 
namespace adore
{
    namespace fun
    {
 
        struct PlanarVehicleState10d
        {
        public:
            PlanarVehicleState10d(){}
            PlanarVehicleState10d(const PlanarVehicleState10d& other)
            {
                this->data = other.data;
            }
            PlanarVehicleState10d(const VehicleMotionState9d& other)
            {   
                this->setX(other.getX());
                this->setY(other.getY());
                this->setPSI(other.getPSI());
                this->setvx(other.getvx());
                this->setvy(other.getvy());
                this->setOmega(other.getOmega());
                this->setAx(other.getAx());
                this->setDelta(other.getDelta());
                this->setDAx(0.0);
                this->setDDelta(0.0);
            }
            adoreMatrix<double, 10, 1> data;
            double getX()const { return data(0, 0); }
            double getY()const { return data(1, 0); }
            double getPSI()const { return data(2, 0); }
            double getvx()const { return data(3, 0); }
            double getvy()const { return data(4, 0); }
            double getOmega()const { return data(5, 0); }
            double getAx()const { return data(6, 0); }
            double getDelta()const { return data(7, 0); }
            double getDAx()const { return data(8, 0); }
            double getDDelta()const { return data(9, 0); }
 
            void setX(double value) { data(0, 0) = value; }
            void setY(double value) {  data(1, 0) = value; }
            void setPSI(double value) {  data(2, 0) = value; }
            void setvx(double value) {  data(3, 0) = value; }
            void setvy(double value) {  data(4, 0) = value; }
            void setOmega(double value) {  data(5, 0) = value; }
            void setAx(double value) {  data(6, 0) = value; }
            void setDelta(double value) {  data(7, 0) = value; }
            void setDAx(double value) {  data(8, 0) = value; }
            void setDDelta(double value) {  data(9, 0) = value; }
        };
    }
}