26#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
27#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
28#include "modules/common_msgs/localization_msgs/localization.pb.h"
61 void Update(
const std::string& localization_file,
62 const std::string& chassis_file);
110 double pitch()
const;
185 bool ConstructExceptLinearVelocity(
A general class to denote the return status of an API call.
The class of vehicle state.
Status Update(const localization::LocalizationEstimate &localization, const canbus::Chassis &chassis)
Constructor by information of localization and chassis.
double linear_velocity() const
Get the vehicle's linear velocity.
const localization::Pose & pose() const
double angular_velocity() const
Get the vehicle's angular velocity.
double yaw() const
Get the vehicle yaw angle.
const localization::Pose & original_pose() const
void Update(const std::string &localization_file, const std::string &chassis_file)
Update VehicleStateProvider instance by protobuf files.
double x() const
Get the x-coordinate of vehicle position.
double kappa() const
Get the kappa of vehicle position.
double z() const
Get the z coordinate of vehicle position.
double pitch() const
Get the vehicle pitch angle.
virtual ~VehicleStateProvider()=default
Default destructor.
const VehicleState & vehicle_state() const
double steering_percentage() const
Get the vehicle's steering angle.
double gear() const
Get the vehicle's gear position.
void set_linear_velocity(const double linear_velocity)
Set the vehicle's linear velocity.
double roll() const
Get the vehicle roll angle.
math::Vec2d ComputeCOMPosition(const double rear_to_com_distance) const
Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to th...
double y() const
Get the y-coordinate of vehicle position.
double linear_acceleration() const
Get the vehicle's linear acceleration.
double heading() const
Get the heading of vehicle position, which is the angle between the vehicle's heading direction and t...
math::Vec2d EstimateFuturePosition(const double t) const
Estimate future position from current position and heading, along a period of time,...
Implements a class of 2-dimensional vectors.