UnstructuredSettings.hpp

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/*
 * ----------------- BEGIN LICENSE BLOCK ---------------------------------
 *
 * Copyright (C) 2018-2022 Intel Corporation
 *
 * SPDX-License-Identifier: LGPL-2.1-only
 *
 * ----------------- END LICENSE BLOCK -----------------------------------
 */
 
#pragma once
 
#include <cstdint>
#include <iostream>
#include <limits>
#include <memory>
#include <sstream>
#include "ad/physics/Angle.hpp"
#include "ad/physics/AngularAcceleration.hpp"
#include "ad/physics/Distance.hpp"
#include "ad/physics/Duration.hpp"
namespace ad {
namespace rss {
namespace world {
 
struct UnstructuredSettings
{
  typedef std::shared_ptr<UnstructuredSettings> Ptr;
 
  typedef std::shared_ptr<UnstructuredSettings const> ConstPtr;
 
  UnstructuredSettings() = default;
 
  ~UnstructuredSettings() = default;
 
  UnstructuredSettings(const UnstructuredSettings &other) = default;
 
  UnstructuredSettings(UnstructuredSettings &&other) = default;
 
  UnstructuredSettings &operator=(const UnstructuredSettings &other) = default;
 
  UnstructuredSettings &operator=(UnstructuredSettings &&other) = default;
 
  bool operator==(const UnstructuredSettings &other) const
  {
    return (pedestrian_turning_radius == other.pedestrian_turning_radius)
      && (drive_away_max_angle == other.drive_away_max_angle)
      && (vehicle_yaw_rate_change == other.vehicle_yaw_rate_change) && (vehicle_min_radius == other.vehicle_min_radius)
      && (vehicle_trajectory_calculation_step == other.vehicle_trajectory_calculation_step)
      && (vehicle_front_intermediate_yaw_rate_change_ratio_steps
          == other.vehicle_front_intermediate_yaw_rate_change_ratio_steps)
      && (vehicle_back_intermediate_yaw_rate_change_ratio_steps
          == other.vehicle_back_intermediate_yaw_rate_change_ratio_steps)
      && (vehicle_brake_intermediate_acceleration_steps == other.vehicle_brake_intermediate_acceleration_steps)
      && (vehicle_continue_forward_intermediate_acceleration_steps
          == other.vehicle_continue_forward_intermediate_acceleration_steps)
      && (vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps
          == other.vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps)
      && (pedestrian_continue_forward_intermediate_heading_change_ratio_steps
          == other.pedestrian_continue_forward_intermediate_heading_change_ratio_steps)
      && (pedestrian_continue_forward_intermediate_acceleration_steps
          == other.pedestrian_continue_forward_intermediate_acceleration_steps)
      && (pedestrian_brake_intermediate_acceleration_steps == other.pedestrian_brake_intermediate_acceleration_steps)
      && (pedestrian_front_intermediate_heading_change_ratio_steps
          == other.pedestrian_front_intermediate_heading_change_ratio_steps)
      && (pedestrian_back_intermediate_heading_change_ratio_steps
          == other.pedestrian_back_intermediate_heading_change_ratio_steps);
  }
 
  bool operator!=(const UnstructuredSettings &other) const
  {
    return !operator==(other);
  }
 
  ::ad::physics::Distance pedestrian_turning_radius;
 
  ::ad::physics::Angle drive_away_max_angle;
 
  ::ad::physics::AngularAcceleration vehicle_yaw_rate_change;
 
  ::ad::physics::Distance vehicle_min_radius;
 
  ::ad::physics::Duration vehicle_trajectory_calculation_step;
 
  uint32_t vehicle_front_intermediate_yaw_rate_change_ratio_steps{0};
 
  uint32_t vehicle_back_intermediate_yaw_rate_change_ratio_steps{0};
 
  uint32_t vehicle_brake_intermediate_acceleration_steps{0};
 
  uint32_t vehicle_continue_forward_intermediate_acceleration_steps{0};
 
  uint32_t vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps{0};
 
  uint32_t pedestrian_continue_forward_intermediate_heading_change_ratio_steps{0};
 
  uint32_t pedestrian_continue_forward_intermediate_acceleration_steps{0};
 
  uint32_t pedestrian_brake_intermediate_acceleration_steps{0};
 
  uint32_t pedestrian_front_intermediate_heading_change_ratio_steps{0};
 
  uint32_t pedestrian_back_intermediate_heading_change_ratio_steps{0};
};
 
} // namespace world
} // namespace rss
} // namespace ad
 
#ifndef GEN_GUARD_AD_RSS_WORLD_UNSTRUCTUREDSETTINGS
#define GEN_GUARD_AD_RSS_WORLD_UNSTRUCTUREDSETTINGS
namespace ad {
namespace rss {
namespace world {
 
inline std::ostream &operator<<(std::ostream &os, UnstructuredSettings const &_value)
{
  os << "UnstructuredSettings(";
  os << "pedestrian_turning_radius:";
  os << _value.pedestrian_turning_radius;
  os << ",";
  os << "drive_away_max_angle:";
  os << _value.drive_away_max_angle;
  os << ",";
  os << "vehicle_yaw_rate_change:";
  os << _value.vehicle_yaw_rate_change;
  os << ",";
  os << "vehicle_min_radius:";
  os << _value.vehicle_min_radius;
  os << ",";
  os << "vehicle_trajectory_calculation_step:";
  os << _value.vehicle_trajectory_calculation_step;
  os << ",";
  os << "vehicle_front_intermediate_yaw_rate_change_ratio_steps:";
  os << _value.vehicle_front_intermediate_yaw_rate_change_ratio_steps;
  os << ",";
  os << "vehicle_back_intermediate_yaw_rate_change_ratio_steps:";
  os << _value.vehicle_back_intermediate_yaw_rate_change_ratio_steps;
  os << ",";
  os << "vehicle_brake_intermediate_acceleration_steps:";
  os << _value.vehicle_brake_intermediate_acceleration_steps;
  os << ",";
  os << "vehicle_continue_forward_intermediate_acceleration_steps:";
  os << _value.vehicle_continue_forward_intermediate_acceleration_steps;
  os << ",";
  os << "vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps:";
  os << _value.vehicle_continue_forward_intermediate_yaw_rate_change_ratio_steps;
  os << ",";
  os << "pedestrian_continue_forward_intermediate_heading_change_ratio_steps:";
  os << _value.pedestrian_continue_forward_intermediate_heading_change_ratio_steps;
  os << ",";
  os << "pedestrian_continue_forward_intermediate_acceleration_steps:";
  os << _value.pedestrian_continue_forward_intermediate_acceleration_steps;
  os << ",";
  os << "pedestrian_brake_intermediate_acceleration_steps:";
  os << _value.pedestrian_brake_intermediate_acceleration_steps;
  os << ",";
  os << "pedestrian_front_intermediate_heading_change_ratio_steps:";
  os << _value.pedestrian_front_intermediate_heading_change_ratio_steps;
  os << ",";
  os << "pedestrian_back_intermediate_heading_change_ratio_steps:";
  os << _value.pedestrian_back_intermediate_heading_change_ratio_steps;
  os << ")";
  return os;
}
 
} // namespace world
} // namespace rss
} // namespace ad
 
namespace std {
inline std::string to_string(::ad::rss::world::UnstructuredSettings const &value)
{
  stringstream sstream;
  sstream << value;
  return sstream.str();
}
} // namespace std
 
template <> struct fmt::formatter<::ad::rss::world::UnstructuredSettings> : formatter<string_view>
{
  template <typename FormatContext> auto format(::ad::rss::world::UnstructuredSettings const &value, FormatContext &ctx)
  {
    return formatter<string_view>::format(std::to_string(value), ctx);
  }
};
 
#endif // GEN_GUARD_AD_RSS_WORLD_UNSTRUCTUREDSETTINGS