RssObjectConversion.hpp

Go to the documentation of this file.

// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2018-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
#pragma once
 
#include <ad/rss/map/RssObjectData.hpp>
 
#include <ad/map/route/FullRoute.hpp>
#include <memory>
 
namespace ad {
namespace rss {
namespace map {
 
class RssObjectConversion
{
public:
  using Ptr = std::shared_ptr<RssObjectConversion>;
 
  using ConstPtr = std::shared_ptr<RssObjectConversion const>;
 
  explicit RssObjectConversion(RssObjectData const &objectData);
 
  RssObjectConversion(RssObjectData const &objectData,
                      ::ad::rss::world::OccupiedRegionVector const &objectOccupiedRegions);
 
  RssObjectConversion(const RssObjectConversion &other) = default;
 
  RssObjectConversion(RssObjectConversion &&other) = default;
 
  ~RssObjectConversion() = default;
 
  RssObjectConversion &operator=(const RssObjectConversion &other) = delete;
 
  RssObjectConversion &operator=(RssObjectConversion &&other) = delete;
 
  ::ad::rss::world::RssDynamics getRssDynamics() const;
 
  ::ad::rss::world::Object const &getRssObject() const;
 
  ::ad::rss::world::ObjectId getId() const;
 
  bool calculateMinStoppingDistance(::ad::physics::Distance &minStoppingDistance) const;
 
  void updateSpeedLimit(::ad::physics::Speed const &maxSpeedOnAcceleration);
 
  void laneIntervalAdded(::ad::map::route::LaneInterval const &laneInterval);
 
  void updateVelocityOnRoute(::ad::map::route::FullRoute const &route);
 
  ::ad::map::match::Object const *getObjectMapMatchedPosition() const
  {
    return mObjectMapMatchedPosition;
  }
 
  bool isOriginalSpeedAcceptable(::ad::physics::Speed const acceptableNegativeSpeed = ::ad::physics::Speed(-0.5)) const;
 
  ::ad::physics::Speed const &getOriginalObjectSpeed() const
  {
    return mOriginalObjectSpeed;
  }
 
private:
  ::ad::rss::world::Object mRssObject;
  ::ad::map::match::Object const *mObjectMapMatchedPosition;
  ::ad::physics::Speed mMaxSpeedOnAcceleration;
  ::ad::physics::Speed const mOriginalObjectSpeed;
  ::ad::rss::world::RssDynamics const &mRssDynamics;
 
  void initializeRssObject(::ad::rss::world::ObjectId const &objectId,
                           ::ad::rss::world::ObjectType const &objectType,
                           ::ad::rss::world::OccupiedRegionVector const &objectOccupiedRegions,
                           ::ad::map::match::ENUObjectPosition const &objectEnuPosition,
                           ::ad::physics::Speed const &objectSpeed,
                           ::ad::physics::AngularVelocity const &objectYawRate,
                           ::ad::physics::Angle const &objectSteeringAngle);
 
  void addRestrictedOccupiedRegion(::ad::map::match::LaneOccupiedRegion const &laneOccupiedRegion,
                                   ::ad::map::route::LaneInterval const &laneInterval);
};
 
} // namespace map
} // namespace rss
} // namespace ad