stationary_model.hpp

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// Copyright 2022-2023 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BELUGA_MOTION_STATIONARY_MODEL_HPP
#define BELUGA_MOTION_STATIONARY_MODEL_HPP
 
#include <random>
#include <tuple>
 
#include <beluga/type_traits/tuple_traits.hpp>
 
#include <sophus/se2.hpp>
#include <sophus/so2.hpp>
 
namespace beluga {
 
 
class StationaryModel {
 public:
  using control_type = std::tuple<Sophus::SE2d, Sophus::SE2d>;
  using state_type = Sophus::SE2d;
 
 
  template <class Control, typename = common_tuple_type_t<Control, control_type>>
  [[nodiscard]] auto operator()([[maybe_unused]] Control&&) const {
    return [](const state_type& state, auto& gen) {
      static thread_local auto distribution = std::normal_distribution<>{0, 0.02};
      return state *
             Sophus::SE2d{Sophus::SO2d{distribution(gen)}, Eigen::Vector2d{distribution(gen), distribution(gen)}};
    };
  }
};
 
}  // namespace beluga
 
#endif