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/RssState.hpp"
 
namespace ad {
namespace rss {
namespace state {
 
inline bool isLongitudinalSafe(RssState const &rssState)
{
  return rssState.longitudinalState.isSafe;
}
 
inline bool isLateralSafe(RssState const &rssState)
{
  return rssState.lateralStateRight.isSafe && rssState.lateralStateLeft.isSafe;
}
 
inline bool isUnstructuredSceneSafe(RssState const &rssState)
{
  return rssState.unstructuredSceneState.isSafe;
}
 
inline bool isDangerous(RssState const &rssState)
{
  if (rssState.situationType == ad::rss::situation::SituationType::Unstructured)
  {
    return !isUnstructuredSceneSafe(rssState);
  }
  else
  {
    return !isLongitudinalSafe(rssState) && !isLateralSafe(rssState);
  }
}
 
} // namespace state
} // namespace rss
} // namespace ad