RssResponseResolving.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 "ad/rss/state/ProperResponse.hpp"
#include "ad/rss/state/RssStateSnapshot.hpp"
 
namespace ad {
namespace rss {
namespace core {
 
class RssResponseResolving
{
public:
  RssResponseResolving();
 
  bool provideProperResponse(state::RssStateSnapshot const &currentStateSnapshot, state::ProperResponse &response);
 
private:
  void combineState(state::UnstructuredSceneRssState const &state,
                    physics::Acceleration &driveAwayBrakeMin,
                    bool &driveAwayToBrakeTransition,
                    state::UnstructuredSceneResponse &response,
                    state::HeadingRangeVector &responseHeadingRanges,
                    physics::AccelerationRange &accelerationRange);
 
  void combineState(state::LongitudinalRssState const &state,
                    state::LongitudinalResponse &response,
                    physics::AccelerationRange &accelerationRange);
 
  void combineState(state::LateralRssState const &state,
                    state::LateralResponse &response,
                    physics::AccelerationRange &accelerationRange);
};
 
} // namespace core
} // namespace rss
} // namespace ad