RssSituationExtraction.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/situation/SituationSnapshot.hpp"
#include "ad/rss/world/WorldModel.hpp"
 
namespace ad {
namespace rss {
namespace world {
class RssSituationIdProvider;
} // namespace world
 
namespace core {
 
class RssSituationExtraction
{
public:
  RssSituationExtraction();
 
  ~RssSituationExtraction();
 
  bool extractSituations(world::WorldModel const &worldModel, situation::SituationSnapshot &situationSnapshot);
 
private:
  void calcluateRelativeLongitudinalPosition(physics::MetricRange const &egoMetricRange,
                                             physics::MetricRange const &otherMetricRange,
                                             situation::LongitudinalRelativePosition &longitudinalPosition,
                                             physics::Distance &longitudinalDistance);
  void calcluateRelativeLongitudinalPositionIntersection(physics::MetricRange const &egoMetricRange,
                                                         physics::MetricRange const &otherMetricRange,
                                                         situation::LongitudinalRelativePosition &longitudinalPosition,
                                                         physics::Distance &longitudinalDistance);
  void calcluateRelativeLateralPosition(physics::MetricRange const &egoMetricRange,
                                        physics::MetricRange const &otherMetricRange,
                                        situation::LateralRelativePosition &lateralPosition,
                                        physics::Distance &lateralDistance);
  bool convertObjectsNonIntersection(world::Scene const &currentScene, situation::Situation &situation);
  void convertToIntersectionCentric(physics::MetricRange const &objectDimension,
                                    physics::MetricRange const &intersectionPosition,
                                    physics::MetricRange &dimensionsIntersection);
  bool convertObjectsIntersection(world::Scene const &currentScene, situation::Situation &situation);
 
  bool extractSituationInputRangeChecked(world::TimeIndex const &timeIndex,
                                         world::Scene const &currentScene,
                                         situation::Situation &situation);
  enum class MergeMode
  {
    EgoVehicle,
    OtherVehicle
  };
  bool mergeVehicleStates(MergeMode const &mergeMode,
                          situation::VehicleState const &otherVehicleState,
                          situation::VehicleState &mergedVehicleState);
  bool mergeSituations(situation::Situation const &otherSituation, situation::Situation &mergedSituation);
 
  std::unique_ptr<ad::rss::world::RssSituationIdProvider> mSituationIdProvider;
};
 
} // namespace core
} // namespace rss
} // namespace ad