terminalrequest.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>
 
namespace adore
{
    namespace fun
    {
        class TerminalRequest
        {
        private:
            double X,Y,psi,t;
            bool valid;
        public:
            void set(double X,double Y,double psi,double t,bool valid)
            {
                this->X=X;
                this->Y=Y;
                this->psi=psi;
                this->t=t;
                this->valid=valid;
            }
            double getX()const{return X;}
            double getY()const{return Y;}
            double getPSI()const{return psi;}
            double getT()const{return t;}
            bool isValid()const{return valid;}
            bool isActive(double t)const{return valid && t>this->t;}
            adoreMatrix<double,3,1> getStateVector()const
            {
                adoreMatrix<double,3,1> m;
                m(0)=X;
                m(1)=Y;
                m(2)=psi;
                return m;
            }
            void relocate(double new_X0,double new_Y0, double new_PSI0)
            {
                X = new_X0;
                Y = new_Y0;
                psi = new_PSI0;
            }
            void setStartTime(double new_t0)
            {
                t = new_t0;
            }
            TerminalRequest():X(0.0),Y(0.0),psi(0.0),t(0.0),valid(false){}
            TerminalRequest(double X,double Y,double psi,double t,bool valid):X(X),Y(Y),psi(psi),t(t),valid(valid){}
        };
    }
}