RssObjectPositionExtractor.hpp

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// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2018-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
#pragma once
 
#include <limits>
#include "ad/rss/world/Object.hpp"
#include "ad/rss/world/RoadSegment.hpp"
 
namespace ad {
namespace rss {
namespace structured {
 
class ObjectDimensions
{
public:
  ObjectDimensions()
  {
    longitudinalDimensions.maximum = std::numeric_limits<physics::Distance>::lowest();
    longitudinalDimensions.minimum = std::numeric_limits<physics::Distance>::max();
 
    lateralDimensions.maximum = std::numeric_limits<physics::Distance>::lowest();
    lateralDimensions.minimum = std::numeric_limits<physics::Distance>::max();
  }
 
  physics::MetricRange longitudinalDimensions;
 
  physics::MetricRange lateralDimensions;
 
  bool onPositiveLane{false};
 
  bool onNegativeLane{false};
 
  physics::MetricRange intersectionPosition;
};
 
class RssObjectPositionExtractor
{
public:
  explicit RssObjectPositionExtractor(world::OccupiedRegionVector const &occupied_regions);
 
  bool newRoadSegment(physics::MetricRange const &longitudinalStart, world::RoadSegment const &roadSegment);
 
  bool newLaneSegment(physics::MetricRange lateral_distance, world::LaneSegment const &laneSegment);
 
  bool getObjectDimensions(ObjectDimensions &objectDimensions);
 
private:
  world::OccupiedRegionVector mOccupiedRegions;
 
  physics::MetricRange mCurrentLongitudinalRoadSegmentStart;
  physics::Distance mRoadSegmentMinLengthAfterIntersectingArea{0.};
 
  enum class IntersectionState
  {
    BeforeIntersection,
    WithinIntersection,
    AfterIntersection
  };
  IntersectionState mIntersectionState{IntersectionState::BeforeIntersection};
 
  ObjectDimensions mObjectDimensions;
};
 
} // namespace structured
} // namespace rss
} // namespace ad