local_position_assessor.hpp

/****************************************************************************
 *
 * Copyright 2023 Auterion AG. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/system_state/system_state.hpp>
#include <auterion_sdk/utils/geometry.hpp>
#include <optional>
 
namespace auterion {
struct LocalPositionAssessorConfig {
    float position_error_threshold_m{0.5F};      
    float absolute_velocity_threshold_m_s{0.3F}; 
    float absolute_acceleration_threshold_m_s2{
        0.1F}; 
    float heading_error_threshold_rad{7.F * M_PI / 180.F}; 
    LocalPositionAssessorConfig& withPositionErrorThreshold(
        const float position_error_threshold_m) {
        this->position_error_threshold_m = position_error_threshold_m;
        return *this;
    }
 
    LocalPositionAssessorConfig& withVelocityThreshold(
        const float absolute_velocity_threshold_m_s) {
        this->absolute_velocity_threshold_m_s = absolute_velocity_threshold_m_s;
        return *this;
    }
 
    LocalPositionAssessorConfig& withAccelerationThreshold(
        const float absolute_acceleration_threshold_m_s2) {
        this->absolute_acceleration_threshold_m_s2 = absolute_acceleration_threshold_m_s2;
        return *this;
    }
 
    LocalPositionAssessorConfig& withHeadingErrorThreshold(
        const float heading_error_threshold_rad) {
        this->heading_error_threshold_rad = heading_error_threshold_rad;
        return *this;
    }
};
 
class LocalPositionAssessor {
   public:
    explicit LocalPositionAssessor(
        const SystemState& system_state,
        const LocalPositionAssessorConfig& config = LocalPositionAssessorConfig{});
 
    ~LocalPositionAssessor() = default;
 
    bool isPositionWithinThreshold(
        const Eigen::Vector3f& target_local_position_m,
        const std::optional<float> position_error_threshold_m = std::nullopt) const;
 
    bool isVelocityUnderThreshold(
        const std::optional<float> absolute_velocity_threshold_m_s = std::nullopt) const;
 
    bool isAccelerationUnderThreshold(
        const std::optional<float> absolute_acceleration_threshold_m_s2 = std::nullopt) const;
 
    bool isHeadingWithinThreshold(
        const float target_heading_enu_rad,
        const std::optional<float> heading_error_threshold_rad = std::nullopt) const;
 
   private:
    std::shared_ptr<SystemState> _system_state; 
    LocalPositionAssessorConfig _config;        
};
 
}  // namespace auterion