RssNonIntersectionConstellationChecker.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 <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 RssNonIntersectionConstellationChecker
{
public:
  RssNonIntersectionConstellationChecker() = default;
 
  ~RssNonIntersectionConstellationChecker() = default;
 
  bool calculateRssStateNonIntersection(world::TimeIndex const &time_index,
                                        core::RelativeConstellation const &constellation,
                                        state::RssState &rssState);
 
private:
  bool calculateRssStateSameDirection(core::RelativeConstellation const &constellation, state::RssState &rssState);
 
  bool calculateRssStateOppositeDirection(core::RelativeConstellation const &constellation, state::RssState &rssState);
 
  bool calculateLongitudinalRssStateSameDirection(core::RelativeConstellation const &constellation,
                                                  state::LongitudinalRssState &rssState);
 
  bool calculateLongitudinalRssStateOppositeDirection(core::RelativeConstellation const &constellation,
                                                      state::LongitudinalRssState &rssState);
 
  bool calculateLateralRssState(core::RelativeConstellation const &constellation,
                                state::LateralRssState &rssStateLeft,
                                state::LateralRssState &rssStateRight);
 
  struct RssSafeState
  {
    bool longitudinalSafe{false};
    bool lateralSafe{false};
  };
 
  typedef std::map<core::RelativeConstellationId, RssSafeState> RssSafeStateBeforeDangerThresholdTimeMap;
 
  RssSafeStateBeforeDangerThresholdTimeMap mLastStatesBeforeDangerThresholdTime;
  RssSafeStateBeforeDangerThresholdTimeMap mNewStatesBeforeDangerThresholdTime;
 
  world::TimeIndex mCurrentTimeIndex{0u};
};
 
} // namespace structured
} // namespace rss
} // namespace ad