RssSituationChecking.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 <memory>
#include "ad/rss/situation/SituationSnapshot.hpp"
#include "ad/rss/state/RssStateSnapshot.hpp"
 
namespace ad {
namespace rss {
namespace situation {
class RssStructuredSceneIntersectionChecker;
class RssStructuredSceneNonIntersectionChecker;
class RssUnstructuredSceneChecker;
} // namespace situation
 
namespace core {
 
class RssSituationChecking
{
public:
  RssSituationChecking();
 
  ~RssSituationChecking();
 
  bool checkSituations(situation::SituationSnapshot const &situationSnapshot,
                       state::RssStateSnapshot &rssStateSnapshot);
 
private:
  bool checkSituationInputRangeChecked(situation::Situation const &situation,
                                       state::RssStateSnapshot &rssStateSnapshot);
 
  bool checkTimeIncreasingConsistently(world::TimeIndex const &nextTimeIndex);
 
  std::unique_ptr<ad::rss::situation::RssStructuredSceneIntersectionChecker> mIntersectionChecker;
  std::unique_ptr<ad::rss::situation::RssStructuredSceneNonIntersectionChecker> mNonIntersectionChecker;
  std::unique_ptr<ad::rss::situation::RssUnstructuredSceneChecker> mUnstructuredSceneChecker;
  world::TimeIndex mCurrentTimeIndex{0u};
};
} // namespace core
} // namespace rss
} // namespace ad