RssFormulas.hpp

Go to the documentation of this file.

// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2018-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
 
#pragma once
 
#include "ad/rss/core/RelativeObjectState.hpp"
#include "ad/rss/world/ObjectId.hpp"
 
namespace ad {
namespace rss {
namespace structured {
 
static inline world::ObjectId getRightBorderObjectId()
{
  return std::numeric_limits<world::ObjectId>::max();
}
 
static inline world::ObjectId getLeftBorderObjectId()
{
  return std::numeric_limits<world::ObjectId>::max() - 1;
}
 
bool calculateLongitudinalDistanceOffsetAfterStatedBrakingPattern(physics::Speed const &currentLongitudinalSpeed,
                                                                  physics::Speed const &max_speed_on_acceleration,
                                                                  physics::Duration const &response_time,
                                                                  physics::Acceleration const &acceleration,
                                                                  physics::Acceleration const &deceleration,
                                                                  physics::Distance &distanceOffset);
 
bool calculateLateralDistanceOffsetAfterStatedBrakingPattern(physics::Speed const &currentLateralSpeed,
                                                             physics::Duration const &response_time,
                                                             physics::Acceleration const &acceleration,
                                                             physics::Acceleration const &deceleration,
                                                             physics::Distance &distanceOffset);
bool calculateSafeLongitudinalDistanceSameDirection(core::RelativeObjectState const &leadingObject,
                                                    core::RelativeObjectState const &followingObject,
                                                    physics::Distance &safe_distance);
 
bool checkSafeLongitudinalDistanceSameDirection(core::RelativeObjectState const &leadingObject,
                                                core::RelativeObjectState const &followingObject,
                                                physics::Distance const &objectDistance,
                                                physics::Distance &safe_distance,
                                                bool &isDistanceSafe);
 
bool calculateSafeLongitudinalDistanceOppositeDirection(core::RelativeObjectState const &correctObject,
                                                        core::RelativeObjectState const &oppositeObject,
                                                        physics::Distance &safe_distance);
 
bool checkSafeLongitudinalDistanceOppositeDirection(core::RelativeObjectState const &correctObject,
                                                    core::RelativeObjectState const &oppositeObject,
                                                    physics::Distance const &objectDistance,
                                                    physics::Distance &safe_distance,
                                                    bool &isDistanceSafe);
 
bool checkStopInFrontIntersection(core::RelativeObjectState const &object,
                                  physics::Distance &safe_distance,
                                  bool &isDistanceSafe);
 
bool calculateSafeLateralDistance(core::RelativeObjectState const &leftObject,
                                  core::RelativeObjectState const &rightObject,
                                  physics::Distance &safe_distance);
 
bool checkSafeLateralDistance(core::RelativeObjectState const &leftObject,
                              core::RelativeObjectState const &rightObject,
                              physics::Distance const &objectDistance,
                              physics::Distance &safe_distance,
                              bool &isDistanceSafe);
 
} // namespace structured
} // namespace rss
} // namespace ad