point_factory.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
 
#pragma once
 
#include "modules/common/math/vec2d.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
 
namespace apollo {
namespace common {
namespace util {
 
class PointFactory {
 public:
  template <typename XY>
  static inline math::Vec2d ToVec2d(const XY& xy) {
    return math::Vec2d(xy.x(), xy.y());
  }
 
  static inline SLPoint ToSLPoint(const double s, const double l) {
    SLPoint sl;
    sl.set_s(s);
    sl.set_l(l);
    return sl;
  }
 
  static inline PointENU ToPointENU(const double x, const double y,
                                    const double z = 0) {
    PointENU point_enu;
    point_enu.set_x(x);
    point_enu.set_y(y);
    point_enu.set_z(z);
    return point_enu;
  }
 
  template <typename XYZ>
  static inline PointENU ToPointENU(const XYZ& xyz) {
    return ToPointENU(xyz.x(), xyz.y(), xyz.z());
  }
 
  static inline SpeedPoint ToSpeedPoint(const double s, const double t,
                                        const double v = 0, const double a = 0,
                                        const double da = 0) {
    SpeedPoint speed_point;
    speed_point.set_s(s);
    speed_point.set_t(t);
    speed_point.set_v(v);
    speed_point.set_a(a);
    speed_point.set_da(da);
    return speed_point;
  }
 
  static inline PathPoint ToPathPoint(const double x, const double y,
                                      const double z = 0, const double s = 0,
                                      const double theta = 0,
                                      const double kappa = 0,
                                      const double dkappa = 0,
                                      const double ddkappa = 0) {
    PathPoint path_point;
    path_point.set_x(x);
    path_point.set_y(y);
    path_point.set_z(z);
    path_point.set_s(s);
    path_point.set_theta(theta);
    path_point.set_kappa(kappa);
    path_point.set_dkappa(dkappa);
    path_point.set_ddkappa(ddkappa);
    return path_point;
  }
};
 
}  // namespace util
}  // namespace common
}  // namespace apollo