84 {
85 VehicleModelConfig vehicle_model_config;
86
88 &vehicle_model_config))
89 << "Failed to load vehicle model config file "
90 << FLAGS_vehicle_model_config_filename;
91
92
93 ACHECK(vehicle_model_config.model_type() !=
96
97 VehicleState predicted_vehicle_state;
98 if (vehicle_model_config.model_type() ==
100 RearCenteredKinematicBicycleModel(vehicle_model_config,
101 predicted_time_horizon, cur_vehicle_state,
102 &predicted_vehicle_state);
103 }
104
105 return predicted_vehicle_state;
106}
bool GetProtoFromFile(const std::string &file_name, google::protobuf::Message *message)
Parses the content of the file specified by the file_name as a representation of protobufs,...
@ REAR_CENTERED_KINEMATIC_BICYCLE_MODEL
@ COM_CENTERED_DYNAMIC_BICYCLE_MODEL