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/core/RssSituationSnapshot.hpp"
#include "ad/rss/structured/RssConstellationIdProvider.hpp"
#include "ad/rss/world/WorldModel.hpp"
 
namespace ad {
namespace rss {
 
namespace core {
 
class RssSituationExtraction
{
public:
  typedef std::shared_ptr<RssSituationExtraction> Ptr;
 
  typedef std::shared_ptr<RssSituationExtraction const> ConstPtr;
 
  RssSituationExtraction() = default;
 
  ~RssSituationExtraction() = default;
 
  bool extractSituation(world::WorldModel const &worldModel, core::RssSituationSnapshot &situationSnapshot);
 
  void dropObjectHistory(world::ObjectId const &object_id);
 
private:
  void calcluateRelativeLongitudinalPosition(physics::MetricRange const &egoMetricRange,
                                             physics::MetricRange const &otherMetricRange,
                                             LongitudinalRelativePosition &longitudinal_position,
                                             physics::Distance &longitudinal_distance);
  void calcluateRelativeLongitudinalPositionIntersection(physics::MetricRange const &egoMetricRange,
                                                         physics::MetricRange const &otherMetricRange,
                                                         LongitudinalRelativePosition &longitudinal_position,
                                                         physics::Distance &longitudinal_distance);
  void calcluateRelativeLateralPosition(physics::MetricRange const &egoMetricRange,
                                        physics::MetricRange const &otherMetricRange,
                                        LateralRelativePosition &lateral_position,
                                        physics::Distance &lateral_distance);
  bool convertObjectsNonIntersection(world::Constellation const &currentConstellation,
                                     core::RelativeConstellation &constellation);
  void convertToIntersectionCentric(physics::MetricRange const &objectDimension,
                                    physics::MetricRange const &intersectionPosition,
                                    physics::MetricRange &dimensionsIntersection);
  bool convertObjectsIntersection(world::Constellation const &currentConstellation,
                                  core::RelativeConstellation &constellation);
 
  bool extractConstellationInputRangeChecked(world::TimeIndex const &time_index,
                                             world::Constellation const &worldConstellation,
                                             RelativeConstellation &relativeConstellation);
  enum class MergeMode
  {
    EgoVehicle,
    OtherVehicle
  };
  bool mergeVehicleStates(MergeMode const &mergeMode,
                          RelativeObjectState const &other_state,
                          RelativeObjectState &mergedVehicleState);
  bool mergeConstellations(core::RelativeConstellation const &otherConstellation,
                           core::RelativeConstellation &mergedConstellation);
 
  structured::RssConstellationIdProvider mConstellationIdProvider;
};
 
} // namespace core
} // namespace rss
} // namespace ad