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 # Class simulation\_framework::utilities::vehicle::IVehicle

 Last update: 22.04.2026 

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**Definition**: `autonomy/simulation/utilities/vehicle/i_vehicle.h` (line 24)

Abstract vehicle interface used by simulation components.

[IVehicle](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle) defines the minimal API required by higher-level systems to request predicted motion states and to provide concrete controller and model implementations. Implementations own the controller and model instances and expose const accessors for inspection.

## Members

- [GetController](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1aeca05c9758733092ec26fc72cfbd598c)
- [GetModel](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1af5a2d017fc77d564ea19d11c4cf1368b)
- [RegisterController](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1aa39218d7816b692d462755701f0abd20)
- [RegisterModel](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1a90f9e9496ff556231a1ca07170d29dff)
- [RequestMotionState](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1a8d958c27dfe5b7c9da42f4082fff2e01)
- [~IVehicle](classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1IVehicle_1abad1d84eaece661544f9313048ad4641)

## Public functions

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### Function ~IVehicle

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```cpp
virtual simulation_framework::utilities::vehicle::IVehicle::~IVehicle()=default

```

**Return type**:

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### Function RequestMotionState

![](https://img.shields.io/badge/-public-brightgreen "public")

```cpp
virtual std::pair< state::MotionState, state::ControlInput > simulation_framework::utilities::vehicle::IVehicle::RequestMotionState(const state::MotionState &current, const std::vector< state::MotionState > &request, double dt)=0

```

Compute a predicted motion state and applied control for a given reference trajectory.

**Parameters**:

- **current**: current measured motion state
- **request**: sequence of reference MotionState values to follow
- **dt**: delta time step used for prediction

**Returns**:

pair of (predicted MotionState after applying control, ControlInput used)

**Parameters**:

- const state::MotionState &amp; **current**
- const std::vector&lt; state::MotionState &gt; &amp; **request**
- double **dt**

**Return type**: std::pair&lt; state::MotionState, state::ControlInput &gt;

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### Function RegisterController

![](https://img.shields.io/badge/-public-brightgreen "public")

```cpp
virtual void simulation_framework::utilities::vehicle::IVehicle::RegisterController(std::unique_ptr< controller::IVehicleController > controller)=0

```

Register a vehicle controller implementation.

**Parameters**:

- **controller**: ownership of a controller implementation

**Parameters**:

- std::unique\_ptr&lt; [controller::IVehicleController](classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController) &gt; **controller**

**Return type**: void

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### Function RegisterModel

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```cpp
virtual void simulation_framework::utilities::vehicle::IVehicle::RegisterModel(std::unique_ptr< model::IVehicleModel< double > > model)=0

```

Register a vehicle model implementation.

**Parameters**:

- **model**: ownership of a vehicle model templated on double

**Parameters**:

- std::unique\_ptr&lt; [model::IVehicleModel](structsimulation__framework_1_1utilities_1_1vehicle_1_1model_1_1IVehicleModel.md#structsimulation__framework_1_1utilities_1_1vehicle_1_1model_1_1IVehicleModel)&lt; double &gt; &gt; **model**

**Return type**: void

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### Function GetController

![](https://img.shields.io/badge/-public-brightgreen "public")![](https://img.shields.io/badge/-const-lightblue "const")

```cpp
virtual const controller::IVehicleController * simulation_framework::utilities::vehicle::IVehicle::GetController() const =0

```

Get the registered controller (read-only).

**Returns**:

pointer to the registered controller or nullptr if none

**Return type**: const [controller::IVehicleController](classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController.md#classsimulation__framework_1_1utilities_1_1vehicle_1_1controller_1_1IVehicleController) \*

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### Function GetModel

![](https://img.shields.io/badge/-public-brightgreen "public")![](https://img.shields.io/badge/-const-lightblue "const")

```cpp
virtual const model::IVehicleModel< double > * simulation_framework::utilities::vehicle::IVehicle::GetModel() const =0

```

Get the registered vehicle model (read-only).

**Returns**:

pointer to the registered model or nullptr if none

**Return type**: const [model::IVehicleModel](structsimulation__framework_1_1utilities_1_1vehicle_1_1model_1_1IVehicleModel.md#structsimulation__framework_1_1utilities_1_1vehicle_1_1model_1_1IVehicleModel)&lt; double &gt; \*