RssStateOperation.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/RssState.hpp"
 
namespace ad {
namespace rss {
namespace state {
 
inline bool isLongitudinalSafe(RssState const &rssState)
{
  return rssState.longitudinal_state.is_safe;
}
 
inline bool isLateralSafe(RssState const &rssState)
{
  return rssState.lateral_state_right.is_safe && rssState.lateral_state_left.is_safe;
}
 
inline bool isUnstructuredConstellationSafe(RssState const &rssState)
{
  return rssState.unstructured_constellation_state.is_safe;
}
 
inline bool isDangerous(RssState const &rssState)
{
  if (rssState.constellation_type == ad::rss::world::ConstellationType::Unstructured)
  {
    return !isUnstructuredConstellationSafe(rssState);
  }
  else
  {
    return !isLongitudinalSafe(rssState) && !isLateralSafe(rssState);
  }
}
 
void combineState(state::UnstructuredConstellationRssState const &state,
                  physics::Acceleration &driveAwayBrakeMin,
                  bool &driveAwayToBrakeTransition,
                  state::UnstructuredConstellationResponse &response,
                  ::ad::geometry::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,
                  bool const isLaneBoundariesObject);
 
state::ProperResponse combineProperResponse(state::ProperResponse const &left, state::ProperResponse const &right);
 
} // namespace state
} // namespace rss
} // namespace ad