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MantleAPI
Commits
8a7f09a5
Commit
8a7f09a5
authored
Aug 21, 2021
by
Christoph Kochendoerfer
Browse files
Fixed some merging issues regarding units
parent
4b445937
Changes
7
Hide whitespace changes
Inline
Side-by-side
MantleAPI/include/MantleAPI/Common/floating_point_helper.h
View file @
8a7f09a5
...
...
@@ -59,7 +59,7 @@ inline bool IsEqual(double lhs, double rhs, double precision = std::numeric_limi
template
<
typename
T
,
class
=
typename
std
::
enable_if_t
<
units
::
traits
::
is_unit_t
<
T
>
::
value
>>
bool
IsEqual
(
T
lhs
,
T
rhs
,
double
precision
=
std
::
numeric_limits
<
double
>::
epsilon
())
{
return
units
::
math
::
abs
(
lhs
-
rhs
)
<
precision
;
return
units
::
unit_cast
<
double
>
(
units
::
math
::
abs
(
lhs
-
rhs
)
)
<
precision
;
}
/// @brief Compares two floating point numbers for equality.
...
...
MantleAPI/include/MantleAPI/Common/poly_line.h
View file @
8a7f09a5
...
...
@@ -42,7 +42,7 @@ inline std::ostream& operator<<(std::ostream& os, const PolyLinePoint& polyLineP
if
(
polyLinePoint
.
time
.
has_value
())
{
os
<<
", time in ms "
<<
polyLinePoint
.
time
.
value
()
.
count
()
;
os
<<
", time in ms "
<<
polyLinePoint
.
time
.
value
();
}
return
os
;
...
...
MantleAPI/include/MantleAPI/Common/spline.h
View file @
8a7f09a5
...
...
@@ -21,7 +21,9 @@
#include <MantleAPI/Common/vector.h>
#include <units.h>
#include <array>
#include <tuple>
using
namespace
units
;
namespace
mantle_api
{
...
...
@@ -34,29 +36,33 @@ struct SplineSegment
Vec3
<
T
>
d
;
};
template
<
typename
T
,
class
=
typename
std
::
enable_if_t
<
units
::
traits
::
is_unit
_t
<
T
>
::
value
>>
template
<
typename
T
,
class
=
typename
std
::
enable_if_t
<
traits
::
is_unit
<
T
>
::
value
>>
struct
SplineSection
{
Time
start_time
{
0
};
Time
end_time
{
0
};
/// @brief Represents the polynomial.
///
/// The
array
stores in format \f$[a_3, a_2, a_1, a_0]\f$ for a polynomial in form
/// The
tuple
stores in format \f$[a_3, a_2, a_1, a_0]\f$ for a polynomial in form
/// \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
<
T
,
4
>
polynomial
{
0
,
0
,
0
,
0
};
std
::
tuple
<
unit_t
<
compound_unit
<
T
,
inverse
<
cubed
<
time
::
second
>>>>
,
unit_t
<
compound_unit
<
T
,
inverse
<
squared
<
time
::
second
>>>>
,
unit_t
<
compound_unit
<
T
,
inverse
<
time
::
second
>>>
,
unit_t
<
T
>>
polynomial
{
unit_t
<
compound_unit
<
T
,
inverse
<
cubed
<
time
::
second
>>>>
(
0
),
unit_t
<
compound_unit
<
T
,
inverse
<
squared
<
time
::
second
>>>>
(
0
),
unit_t
<
compound_unit
<
T
,
inverse
<
time
::
second
>>>
(
0
),
unit_t
<
T
>
(
0
)};
};
/// @brief Equality comparison for SplineSection.
template
<
typename
T
,
class
=
typename
std
::
enable_if_t
<
units
::
traits
::
is_unit
_t
<
T
>
::
value
>>
template
<
typename
T
,
class
=
typename
std
::
enable_if_t
<
units
::
traits
::
is_unit
<
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
T
&
a
,
const
T
&
b
)
{
return
IsEqual
(
a
,
b
);
});
return
lhs
.
start_time
==
rhs
.
start_time
&&
lhs
.
end_time
==
rhs
.
end_time
&&
IsEqual
(
std
::
get
<
0
>
(
lhs
.
polynomial
),
std
::
get
<
0
>
(
rhs
.
polynomial
))
&&
IsEqual
(
std
::
get
<
1
>
(
lhs
.
polynomial
),
std
::
get
<
1
>
(
rhs
.
polynomial
))
&&
IsEqual
(
std
::
get
<
2
>
(
lhs
.
polynomial
),
std
::
get
<
2
>
(
rhs
.
polynomial
))
&&
IsEqual
(
std
::
get
<
3
>
(
lhs
.
polynomial
),
std
::
get
<
3
>
(
rhs
.
polynomial
));
}
}
// namespace mantle_api
...
...
MantleAPI/include/MantleAPI/Common/vector.h
View file @
8a7f09a5
...
...
@@ -28,7 +28,7 @@ struct Vec3
T
y
{
0
};
T
z
{
0
};
inline
T
Length
()
const
{
return
sqrt
((
x
*
x
)
+
(
y
*
y
)
+
(
z
*
z
));
}
inline
T
Length
()
const
{
return
units
::
math
::
sqrt
((
x
*
x
)
+
(
y
*
y
)
+
(
z
*
z
));
}
};
template
<
typename
T
>
...
...
@@ -73,7 +73,8 @@ inline Vec3<T> operator/(const Vec3<T>& lhs, double d) noexcept
return
{
lhs
.
x
/
d
,
lhs
.
y
/
d
,
lhs
.
z
/
d
};
}
inline
Vec3d
operator
+=
(
Vec3d
&
lhs
,
const
Vec3d
&
rhs
)
noexcept
template
<
typename
T
>
inline
Vec3
<
T
>
operator
+=
(
Vec3
<
T
>&
lhs
,
const
Vec3
<
T
>&
rhs
)
noexcept
{
lhs
.
x
+=
rhs
.
x
;
lhs
.
y
+=
rhs
.
y
;
...
...
@@ -81,7 +82,8 @@ inline Vec3d operator+=(Vec3d& lhs, const Vec3d& rhs) noexcept
return
lhs
;
}
inline
Vec3d
operator
-=
(
Vec3d
&
lhs
,
const
Vec3d
&
rhs
)
noexcept
template
<
typename
T
>
inline
Vec3
<
T
>
operator
-=
(
Vec3
<
T
>&
lhs
,
const
Vec3
<
T
>&
rhs
)
noexcept
{
lhs
.
x
-=
rhs
.
x
;
lhs
.
y
-=
rhs
.
y
;
...
...
@@ -89,15 +91,16 @@ inline Vec3d operator-=(Vec3d& lhs, const Vec3d& rhs) noexcept
return
lhs
;
}
inline
Vec3d
operator
+=
(
Vec3d
&
lhs
,
double
d
)
noexcept
template
<
typename
T
>
inline
Vec3
<
T
>
operator
+=
(
Vec3
<
T
>&
lhs
,
double
d
)
noexcept
{
lhs
.
x
+=
d
;
lhs
.
y
+=
d
;
lhs
.
z
+=
d
;
return
lhs
;
}
inline
Vec3
d
operator
-=
(
Vec3
d
&
lhs
,
double
d
)
noexcept
template
<
typename
T
>
inline
Vec3
<
T
>
operator
-=
(
Vec3
<
T
>
&
lhs
,
double
d
)
noexcept
{
lhs
.
x
-=
d
;
lhs
.
y
-=
d
;
...
...
MantleAPI/include/MantleAPI/Traffic/control_strategy.h
View file @
8a7f09a5
...
...
@@ -92,8 +92,8 @@ struct FollowHeadingSplineControlStrategy : public ControlStrategy
type
=
ControlStrategyType
::
kFollowHeadingSpline
;
}
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
angle
::
radian
_t
>>
heading_splines
;
double
default_value
{
0
};
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
angle
::
radian
>>
heading_splines
;
units
::
angle
::
radian_t
default_value
{
0
};
};
struct
FollowVelocitySplineControlStrategy
:
public
ControlStrategy
...
...
@@ -104,8 +104,8 @@ struct FollowVelocitySplineControlStrategy : public ControlStrategy
type
=
ControlStrategyType
::
kFollowVelocitySpline
;
}
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
velocity
::
meters_per_second
_t
>>
velocity_splines
;
double
default_value
{
0
};
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
velocity
::
meters_per_second
>>
velocity_splines
;
units
::
velocity
::
meters_per_second_t
default_value
{
0
};
};
inline
bool
operator
==
(
const
FollowVelocitySplineControlStrategy
&
lhs
,
...
...
@@ -128,7 +128,7 @@ struct FollowLateralOffsetSplineControlStrategy : public ControlStrategy
type
=
ControlStrategyType
::
kFollowLateralOffsetSpline
;
}
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
length
::
meter
_t
>>
lateral_offset_splines
;
std
::
vector
<
mantle_api
::
SplineSection
<
units
::
length
::
meter
>>
lateral_offset_splines
;
};
struct
FollowRouteControlStrategy
:
public
ControlStrategy
...
...
@@ -194,7 +194,7 @@ struct FollowTrajectoryControlStrategy : public ControlStrategy
{
ReferenceContext
domainAbsoluteRelative
;
double
scale
{
0.0
};
double
offset
{
0.0
};
units
::
time
::
second_t
offset
{
0.0
};
};
FollowTrajectoryControlStrategy
()
...
...
MantleAPI/include/MantleAPI/Traffic/entity_helper.h
View file @
8a7f09a5
...
...
@@ -21,14 +21,15 @@
namespace
mantle_api
{
inline
void
SetSpeed
(
mantle_api
::
IEntity
*
entity
,
double
velocity
)
inline
void
SetSpeed
(
mantle_api
::
IEntity
*
entity
,
const
units
::
velocity
::
meters_per_second_t
&
velocity
)
{
auto
orientation
=
entity
->
GetOrientation
();
double
cos_elevation
=
std
::
cos
(
orientation
.
pitch
);
mantle_api
::
Vec3
d
velocity_vector
{
velocity
*
std
::
cos
(
orientation
.
yaw
)
*
cos_elevation
,
velocity
*
std
::
sin
(
orientation
.
yaw
)
*
cos_elevation
,
velocity
*
-
std
::
sin
(
orientation
.
pitch
)};
auto
cos_elevation
=
units
::
math
::
cos
(
orientation
.
pitch
);
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
velocity_vector
{
velocity
*
units
::
math
::
cos
(
orientation
.
yaw
)
*
cos_elevation
,
velocity
*
units
::
math
::
sin
(
orientation
.
yaw
)
*
cos_elevation
,
velocity
*
-
units
::
math
::
sin
(
orientation
.
pitch
)};
entity
->
SetVelocity
(
velocity_vector
);
}
...
...
MantleAPI/test/MantleAPI/Test/test_utils.h
View file @
8a7f09a5
...
...
@@ -33,9 +33,9 @@ namespace mantle_api
class
MockConverter
:
public
mantle_api
::
ICoordConverter
{
public:
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
Convert
,
(
mantle_api
::
Position
position
),
(
const
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
,
Convert
,
(
mantle_api
::
Position
position
),
(
const
override
));
mantle_api
::
Position
Convert
(
mantle_api
::
Vec3
d
vec
)
const
override
mantle_api
::
Position
Convert
(
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
vec
)
const
override
{
std
::
ignore
=
vec
;
return
mantle_api
::
Position
{};
...
...
@@ -50,26 +50,26 @@ public:
void
SetName
(
const
std
::
string
&
name
)
override
{
name_
=
name
;
}
const
std
::
string
&
GetName
()
const
override
{
return
name_
;
}
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
d
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
d
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
d
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
d
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
d
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationAcceleration
,
(
const
mantle_api
::
Orientation3
d
&
orientation_acceleration
),
(
const
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
&
orientation_acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAssignedLaneIds
,
(
const
std
::
vector
<
std
::
uint64_t
>&
ids
),
(
override
));
MOCK_METHOD
(
std
::
vector
<
std
::
uint64_t
>
,
GetAssignedLaneIds
,
(),
(
const
,
override
));
...
...
@@ -91,22 +91,22 @@ private:
class
MockQueryService
:
public
mantle_api
::
ILaneLocationQueryService
{
public:
Orientation3
d
GetLaneOrientation
(
const
Vec3
d
&
position
)
const
override
Orientation3
<
units
::
angle
::
radian_t
>
GetLaneOrientation
(
const
Vec3
<
units
::
length
::
meter_t
>
&
position
)
const
override
{
std
::
ignore
=
position
;
return
{};
}
Vec3
d
GetUpwardsShiftedLanePosition
(
const
Vec3
d
&
position
,
Vec3
<
units
::
length
::
meter_t
>
GetUpwardsShiftedLanePosition
(
const
Vec3
<
units
::
length
::
meter_t
>
&
position
,
double
upwards_shift
,
bool
allowed_to_leave_lane
=
false
)
const
override
{
std
::
ignore
=
position
;
std
::
ignore
=
upwards_shift
;
std
::
ignore
=
allowed_to_leave_lane
;
return
mantle_api
::
Vec3
d
();
return
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
();
}
bool
IsPositionOnLane
(
const
Vec3
d
&
position
)
const
override
bool
IsPositionOnLane
(
const
Vec3
<
units
::
length
::
meter_t
>
&
position
)
const
override
{
std
::
ignore
=
position
;
return
false
;
...
...
@@ -124,26 +124,26 @@ public:
void
SetName
(
const
std
::
string
&
name
)
override
{
name_
=
name
;
}
const
std
::
string
&
GetName
()
const
override
{
return
name_
;
}
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
d
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
d
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
d
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
d
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
d
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationAcceleration
,
(
const
mantle_api
::
Orientation3
d
&
orientation_acceleration
),
(
const
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
&
orientation_acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAssignedLaneIds
,
(
const
std
::
vector
<
std
::
uint64_t
>&
ids
),
(
override
));
MOCK_METHOD
(
std
::
vector
<
std
::
uint64_t
>
,
GetAssignedLaneIds
,
(),
(
const
,
override
));
...
...
@@ -167,26 +167,26 @@ public:
void
SetName
(
const
std
::
string
&
name
)
override
{
name_
=
name
;
}
const
std
::
string
&
GetName
()
const
override
{
return
name_
;
}
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
d
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetPosition
,
(
const
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
&
inert_pos
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
length
::
meter_t
>
,
GetPosition
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
d
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetVelocity
,
(
const
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
&
velocity
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
velocity
::
meters_per_second_t
>
,
GetVelocity
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
d
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
d
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAcceleration
,
(
const
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
&
acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Vec3
<
units
::
acceleration
::
meters_per_second_squared_t
>
,
GetAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
d
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientation
,
(
const
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
&
orientation
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angle
::
radian_t
>
,
GetOrientation
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
d
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationRate
,
(
const
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
&
orientation_rate
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_velocity
::
radians_per_second_t
>
,
GetOrientationRate
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetOrientationAcceleration
,
(
const
mantle_api
::
Orientation3
d
&
orientation_acceleration
),
(
const
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
&
orientation_acceleration
),
(
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
d
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
mantle_api
::
Orientation3
<
units
::
angular_acceleration
::
radians_per_second_squared_t
>
,
GetOrientationAcceleration
,
(),
(
const
,
override
));
MOCK_METHOD
(
void
,
SetAssignedLaneIds
,
(
const
std
::
vector
<
std
::
uint64_t
>&
ids
),
(
override
));
MOCK_METHOD
(
std
::
vector
<
std
::
uint64_t
>
,
GetAssignedLaneIds
,
(),
(
const
,
override
));
...
...
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