RssIntersectionConstellationChecker.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 <cstdint>
#include <map>
#include "ad/rss/core/RelativeConstellation.hpp"
#include "ad/rss/state/RssState.hpp"
#include "ad/rss/world/TimeIndex.hpp"
 
namespace ad {
namespace rss {
namespace structured {
 
class RssIntersectionConstellationChecker
{
public:
  enum class IntersectionState : std::uint32_t
  {
    NonPrioAbleToBreak = 0u,       
    SafeLongitudinalDistance = 1u, 
    NoTimeOverlap = 2u             
  };
 
  RssIntersectionConstellationChecker() = default;
 
  ~RssIntersectionConstellationChecker() = default;
 
  bool calculateRssStateIntersection(world::TimeIndex const &time_index,
                                     core::RelativeConstellation const &constellation,
                                     state::RssState &rssState);
 
private:
  bool checkLateralIntersect(core::RelativeConstellation const &constellation, bool &is_safe);
 
  bool checkIntersectionSafe(core::RelativeConstellation const &constellation,
                             state::RssStateInformation &rss_state_information,
                             bool &is_safe,
                             IntersectionState &intersectionState);
 
  typedef std::map<core::RelativeConstellationId, IntersectionState> RssIntersectionStateMap;
 
  RssIntersectionStateMap mLastSafeStateMap;
 
  RssIntersectionStateMap mNewSafeStateMap;
 
  world::TimeIndex mCurrentTimeIndex{0u};
};
 
} // namespace structured
} // namespace rss
} // namespace ad