93 lines
2.3 KiB
C
93 lines
2.3 KiB
C
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// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/MsgPack.h"
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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# include "Carla/Vehicle/AckermannControllerSettings.h"
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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namespace carla {
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namespace rpc {
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class AckermannControllerSettings {
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public:
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AckermannControllerSettings() = default;
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AckermannControllerSettings(
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float speed_kp,
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float speed_ki,
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float speed_kd,
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float accel_kp,
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float accel_ki,
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float accel_kd)
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: speed_kp(speed_kp),
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speed_ki(speed_ki),
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speed_kd(speed_kd),
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accel_kp(accel_kp),
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accel_ki(accel_ki),
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accel_kd(accel_kd) {}
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float speed_kp = 0.0f;
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float speed_ki = 0.0f;
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float speed_kd = 0.0f;
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float accel_kp = 0.0f;
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float accel_ki = 0.0f;
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float accel_kd = 0.0f;
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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AckermannControllerSettings(const FAckermannControllerSettings &Settings)
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: speed_kp(Settings.SpeedKp),
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speed_ki(Settings.SpeedKi),
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speed_kd(Settings.SpeedKd),
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accel_kp(Settings.AccelKp),
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accel_ki(Settings.AccelKi),
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accel_kd(Settings.AccelKd) {}
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operator FAckermannControllerSettings() const {
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FAckermannControllerSettings Settings;
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Settings.SpeedKp = speed_kp;
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Settings.SpeedKi = speed_ki;
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Settings.SpeedKd = speed_kd;
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Settings.AccelKp = accel_kp;
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Settings.AccelKi = accel_ki;
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Settings.AccelKd = accel_kd;
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return Settings;
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}
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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bool operator!=(const AckermannControllerSettings &rhs) const {
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return
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speed_kp != rhs.speed_kp ||
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speed_ki != rhs.speed_ki ||
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speed_kd != rhs.speed_kd ||
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accel_kp != rhs.accel_kp ||
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accel_ki != rhs.accel_ki ||
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accel_kd != rhs.accel_kd;
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}
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bool operator==(const AckermannControllerSettings &rhs) const {
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return !(*this != rhs);
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}
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MSGPACK_DEFINE_ARRAY(
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speed_kp,
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speed_ki,
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speed_kd,
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accel_kp,
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accel_ki,
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accel_kd
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);
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};
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} // namespace rpc
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} // namespace carla
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