From cc1f60c2f1f4aa33cfa2078b8792d6135c299a57 Mon Sep 17 00:00:00 2001
From: Christoph Kochendoerfer <christoph.kochendoerfer@in-tech.com>
Date: Fri, 6 Aug 2021 07:58:57 +0200
Subject: [PATCH] update after review
---
.../MantleAPI/Traffic/control_strategy.h | 20 ++++++++++++-------
1 file changed, 13 insertions(+), 7 deletions(-)
diff --git a/MantleAPI/include/MantleAPI/Traffic/control_strategy.h b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
index 7c551a8c..22dffa88 100644
--- a/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
+++ b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
@@ -132,8 +132,6 @@ struct FollowLateralOffsetSplineControlStrategy : public ControlStrategy
std::vector<mantle_api::SplineSection> lateral_offset_splines;
};
-// TODO: Create new control strategy for following 3D trajectories with shapes NURBS, polyline, clothoid
-
struct FollowRouteControlStrategy : public ControlStrategy
{
FollowRouteControlStrategy()
@@ -166,7 +164,7 @@ struct TransitionDynamics
{
Dimension dimension{Dimension::kUndefined};
Shape shape{Shape::kUndefined};
- double value{0};
+ double value{0.0};
};
struct AcquireLaneOffsetControlStrategy : public ControlStrategy
@@ -183,19 +181,27 @@ struct AcquireLaneOffsetControlStrategy : public ControlStrategy
TransitionDynamics transition_dynamics;
};
+enum class ReferenceContext
+{
+ kAbsolute = 0,
+ kRelative
+};
+
struct FollowTrajectoryControlStrategy : public ControlStrategy
{
+ // TODO: Extend the FollowTrajectoryControlStrategy to support shapes like NURBS and clothoid
+
struct TrajectoryTimeReference
{
- std::string domainAbsoluteRelative;
- double scale;
- double offset;
+ ReferenceContext domainAbsoluteRelative;
+ double scale{0.0};
+ double offset{0.0};
};
FollowTrajectoryControlStrategy()
{
movement_domain = MovementDomain::kBoth;
- type = ControlStrategyType::kAcquireLaneOffset;
+ type = ControlStrategyType::kFollowTrajectory;
}
Trajectory trajectory;
--
GitLab