bicycle_vehicle_model_dynamics.h

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#ifndef BICYCLE_VEHICLE_MODEL_DYNAMICS_H
#define BICYCLE_VEHICLE_MODEL_DYNAMICS_H
 
#include "bitrl/bitrl_types.h"
#include "bitrl/dynamics/dynamics_matrix_descriptor.h"
#include "bitrl/dynamics/motion_model_base.h"
#include "bitrl/dynamics/system_state.h"
 
#include <any>
#include <map>
#include <string>
 
namespace bitrl
{
namespace dynamics
{
 
struct BicycleVehicleModelDynamicsConfig
{
    real_t dt;
 
    real_t L;
};
 
class BicycleVehicleModelDynamics
    : public MotionModelDynamicsBase<SysState<3>, DynamicsMatrixDescriptor,
                                     std::map<std::string, std::any>>
{
 
  public:
    typedef MotionModelDynamicsBase<SysState<3>, DynamicsMatrixDescriptor,
                                    std::map<std::string, std::any>>
        base_type;
 
    typedef base_type::state_type state_type;
    typedef base_type::input_type input_type;
    typedef base_type::matrix_descriptor_type matrix_descriptor_type;
    typedef typename matrix_descriptor_type::matrix_type matrix_type;
    typedef typename matrix_descriptor_type::vector_type vector_type;
 
    BicycleVehicleModelDynamics(const BicycleVehicleModelDynamicsConfig config,
                                SysState<3> &init_state);
 
    void integrate(const input_type &input);
 
    state_type &evaluate(const input_type &input);
 
    void initialize_matrices(const input_type &input);
 
    void update_matrices(const input_type &input);
 
    void load_from_json(const std::string &filename){};
 
  private:
    BicycleVehicleModelDynamicsConfig config_;
};
 
} // namespace dynamics
} // namespace bitrl
 
#endif // BICYCLE_VEHICLE_MODEL_DYNAMICS_H