modularization/src1/planning/op_planner/include/op_planner/PlannerCommonDef.h

/// \file PlannerCommonDef.h
/// \brief Definition file for control related data types
/// \author Hatem Darweesh
/// \date Dec 14, 2016


#ifndef PLANNERCOMMONDEF_H_
#define PLANNERCOMMONDEF_H_

#include <math.h>
#include <string>

namespace PlannerHNS
{

enum MAP_SOURCE_TYPE
{
  MAP_AUTOWARE,
  MAP_FOLDER,
  MAP_KML_FILE,
  MAP_ONE_CSV_FILE,
  MAP_LANES_CSV_FILES
};

enum CAR_TYPE
{
  Mv2Car, //!< Mv2Car
  PHVCar, //!< PHVCar
  HVCar,  //!< HVCar
  RoboCar,//!< RoboCar
  SimulationCar
};

class PID_CONST
{
public:
  double kP;
  double kI;
  double kD;

  PID_CONST()
  {
    kP = kI = kD = 0;
  }

  PID_CONST(const double& p, const double& i, const double& d)
  {
    kP = p;
    kI = i;
    kD = d;
  }
};

class ControllerParams
{
public:
  double SimulationSteeringDelay;
  double SteeringDelay;
  double minPursuiteDistance;
  PID_CONST Steering_Gain;
  PID_CONST Velocity_Gain;
  double Acceleration;
  double Deceleration;
  double FollowDistance;
  double LowpassSteerCutoff;
  double maxAccel;
  double maxDecel;


  ControllerParams()
  {
    SimulationSteeringDelay = 0.0;
    SteeringDelay     = 0.8;
    Acceleration    = 0.5;
    Deceleration    = -0.8;
    FollowDistance    = 8.0;
    LowpassSteerCutoff  = 5.0;
    maxAccel      = 0.9;
    minPursuiteDistance = 2.0;
    maxDecel       = -1.5;
  }
};

class CAR_BASIC_INFO
{
public:
  CAR_TYPE model;

  double turning_radius;
  double wheel_base;
  double max_speed_forward;
  double min_speed_forward;
  double max_speed_backword;
  double max_steer_value;
  double min_steer_value;
  double max_brake_value;
  double min_brake_value;
  double max_steer_angle;
  double min_steer_angle;
  double length;
  double width;
  double max_acceleration;
  double max_deceleration;

  CAR_BASIC_INFO()
  {
    model         = SimulationCar;
    turning_radius     = 5.2;
    wheel_base      = 2.7;
    max_speed_forward    = 3.0;
    min_speed_forward    = 0.0;
    max_speed_backword  = 1.0;
    max_steer_value    = 660;
    min_steer_value    = -660;
    max_brake_value    = 0;
    min_brake_value    = 0;
    max_steer_angle    = 0.42;
    min_steer_angle    = 0.42;
    length        = 4.3;
    width          = 1.82;
    max_acceleration    = 1.5; // m/s2
    max_deceleration    = -1.5; // 1/3 G
  }

  double CalcMaxSteeringAngle()
  {
    return  max_steer_angle;//asin(wheel_base/turning_radius);
  }

  double BoundSpeed(double s)
  {
  if(s > 0 && s > max_speed_forward)
    return max_speed_forward;
  if(s < 0 && s < max_speed_backword)
    return max_speed_backword;
  return s;
  }

  double BoundSteerAngle(double a)
  {
  if(a > max_steer_angle)
    return max_steer_angle;
  if(a < min_steer_angle)
    return min_steer_angle;

  return a;
  }

  double BoundSteerValue(double v)
  {
    if(v >= max_steer_value)
    return max_steer_value;
  if(v <= min_steer_value)
    return min_steer_value;

  return v;
  }

};


} /* namespace PlannerHNS */

#endif /* PLANNERCOMMONDEF_H_ */