Class "SplineSection" can only be used with unit types.

Revised the control strategies that are spline based accordingly.

Signed-off-by: Jupp Tscheak <jupp.tscheak@daimler.com>

MantleAPI/include/MantleAPI/Common/spline.h

@@ -35,6 +35,7 @@ struct SplineSegment
     Vec3<T> d;
 };
 
+template <typename T, class = typename std::enable_if_t<units::traits::is_unit_t<T>::value>>
 struct SplineSection
 {
     Time start_time{0};
@@ -45,17 +46,18 @@ struct SplineSection
     /// \f[
     ///   P(x) = \sum_{i=0}^{3} a_{i} x^{i} = a_3 x^3 + a_2 x^2 + a_1 x + a_0
     /// \f]
-    std::array<double, 4> polynomial{0, 0, 0, 0};
+    std::array<T, 4> polynomial{0, 0, 0, 0};
 };
 
 /// @brief Equality comparison for SplineSection.
-inline bool operator==(const SplineSection& lhs, const SplineSection& rhs) noexcept
+template <typename T, class = typename std::enable_if_t<units::traits::is_unit_t<T>::value>>
+inline bool operator==(const SplineSection<T>& lhs, const SplineSection<T>& rhs) noexcept
 {
     return lhs.start_time == rhs.start_time && lhs.end_time == rhs.end_time &&
            std::equal(lhs.polynomial.begin(),
                       lhs.polynomial.end(),
                       rhs.polynomial.begin(),
-                      [](const double a, const double b) { return IsEqual(a, b); });
+                      [](const T& a, const T& b) { return IsEqual(a, b); });
 }
 
 }  // namespace mantle_api

MantleAPI/include/MantleAPI/Traffic/control_strategy.h

@@ -91,7 +91,7 @@ struct FollowHeadingSplineControlStrategy : public ControlStrategy
         type = ControlStrategyType::kFollowHeadingSpline;
     }
 
-    std::vector<mantle_api::SplineSection> heading_splines;
+    std::vector<mantle_api::SplineSection<units::angle::radian_t>> heading_splines;
     double default_value{0};
 };
 
@@ -103,7 +103,7 @@ struct FollowVelocitySplineControlStrategy : public ControlStrategy
         type = ControlStrategyType::kFollowVelocitySpline;
     }
 
-    std::vector<mantle_api::SplineSection> velocity_splines;
+    std::vector<mantle_api::SplineSection<units::velocity::meters_per_second_t>> velocity_splines;
     double default_value{0};
 };
 
@@ -127,7 +127,7 @@ struct FollowLateralOffsetSplineControlStrategy : public ControlStrategy
         type = ControlStrategyType::kFollowLateralOffsetSpline;
     }
 
-    std::vector<mantle_api::SplineSection> lateral_offset_splines;
+    std::vector<mantle_api::SplineSection<units::length::meter_t>> lateral_offset_splines;
 };
 
 // TODO: Create new control strategy for following 3D trajectories with shapes NURBS, polyline, clothoid
@@ -177,7 +177,7 @@ struct AcquireLaneOffsetControlStrategy : public ControlStrategy
 
     int road_id{};
     int lane_id{};
-    double offset{};
+    units::length::meter_t offset{};
     TransitionDynamics transition_dynamics;
 };