LateralRssAccelerationValuesValidInputRange.hpp

Go to the documentation of this file.

/*
 * ----------------- BEGIN LICENSE BLOCK ---------------------------------
 *
 * Copyright (C) 2018-2020 Intel Corporation
 *
 * SPDX-License-Identifier: LGPL-2.1-only
 *
 * ----------------- END LICENSE BLOCK -----------------------------------
 */
 
#pragma once
 
#include <cmath>
#include <limits>
#include "ad/physics/AccelerationValidInputRange.hpp"
#include "ad/rss/world/LateralRssAccelerationValues.hpp"
#include "spdlog/fmt/ostr.h"
#include "spdlog/spdlog.h"
 
inline bool withinValidInputRange(::ad::rss::world::LateralRssAccelerationValues const &input,
                                  bool const logErrors = true)
{
  // check for generic member input ranges
  bool inValidInputRange = true;
  inValidInputRange
    = withinValidInputRange(input.accelMax, logErrors) && withinValidInputRange(input.brakeMin, logErrors);
  if (!inValidInputRange && logErrors)
  {
    spdlog::error("withinValidInputRange(::ad::rss::world::LateralRssAccelerationValues)>> {} has invalid member",
                  input); // LCOV_EXCL_BR_LINE
  }
 
  // check for individual input ranges
  if (inValidInputRange)
  {
    inValidInputRange
      = (::ad::physics::Acceleration(0.) <= input.accelMax) && (input.accelMax <= ::ad::physics::Acceleration(1e2));
    if (!inValidInputRange && logErrors)
    {
      spdlog::error("withinValidInputRange(::ad::rss::world::LateralRssAccelerationValues)>> {} element {} out of "
                    "valid input range [{}, {}]",
                    input,
                    input.accelMax,
                    ::ad::physics::Acceleration(0.),
                    ::ad::physics::Acceleration(1e2)); // LCOV_EXCL_BR_LINE
    }
  }
 
  if (inValidInputRange)
  {
    inValidInputRange
      = (::ad::physics::Acceleration(-1e2) <= input.brakeMin) && (input.brakeMin < ::ad::physics::Acceleration(0.));
    if (!inValidInputRange && logErrors)
    {
      spdlog::error("withinValidInputRange(::ad::rss::world::LateralRssAccelerationValues)>> {} element {} out of "
                    "valid input range [{}, {}]",
                    input,
                    input.brakeMin,
                    ::ad::physics::Acceleration(-1e2),
                    ::ad::physics::Acceleration(0.)); // LCOV_EXCL_BR_LINE
    }
  }
 
  return inValidInputRange;
}