RssSceneCreator.hpp

Go to the documentation of this file.

// ----------------- BEGIN LICENSE BLOCK ---------------------------------
//
// Copyright (C) 2019-2021 Intel Corporation
//
// SPDX-License-Identifier: LGPL-2.1-only
//
// ----------------- END LICENSE BLOCK -----------------------------------
#pragma once
 
#include <ad/map/intersection/Intersection.hpp>
#include <ad/map/route/FullRoute.hpp>
#include <ad/rss/world/WorldModel.hpp>
#include "ad/rss/map/RssObjectConversion.hpp"
#include "ad/rss/map/RssSceneCreation.hpp"
 
namespace ad {
namespace rss {
namespace map {
 
class RssSceneCreation;
 
class RssSceneCreator
{
public:
  RssSceneCreator(RssSceneCreation::RestrictSpeedLimitMode const &restrictSpeedLimitMode,
                  ::ad::map::landmark::LandmarkIdSet const &greenTrafficLights,
                  RssSceneCreation &sceneCreation);
 
  explicit RssSceneCreator(RssSceneCreation &sceneCreation);
 
  ~RssSceneCreator() = default;
 
  bool appendNotRelevantScene(::ad::map::route::FullRoute const &route,
                              RssObjectConversion::ConstPtr egoObject,
                              RssObjectConversion::ConstPtr otherObject);
 
  bool appendNonIntersectionScene(::ad::map::route::ConnectingRoute const &connectingRoute,
                                  ::ad::rss::situation::SituationType const &situationType,
                                  RssObjectConversion::ConstPtr egoObject,
                                  RssObjectConversion::ConstPtr otherObject);
 
  bool appendMergingScene(::ad::map::route::ConnectingRoute const &connectingRoute,
                          ::ad::rss::situation::SituationType const &situationType,
                          RssObjectConversion::ConstPtr egoObject,
                          RssObjectConversion::ConstPtr otherObject);
 
  bool appendIntersectionScene(::ad::map::intersection::IntersectionPtr intersection,
                               ::ad::map::route::FullRoute const &egoRoute,
                               ::ad::map::route::FullRoute const &objectRoute,
                               ::ad::map::route::FullRoute const &intersectionOtherRoute,
                               RssObjectConversion::ConstPtr egoObject,
                               RssObjectConversion::ConstPtr otherObject);
 
  bool appendRoadBoundaryScenes(::ad::map::route::FullRoute const &egoRoute, RssObjectConversion::ConstPtr egoObject);
 
  static ::ad::rss::world::ObjectId getRightBorderObjectId()
  {
    return std::numeric_limits<::ad::rss::world::ObjectId>::max();
  }
 
  static ::ad::rss::world::ObjectId getLeftBorderObjectId()
  {
    return std::numeric_limits<::ad::rss::world::ObjectId>::max() - 1;
  }
 
  bool appendUnstructuredScene(RssObjectConversion::ConstPtr iEgoObject, RssObjectConversion::ConstPtr iOtherObject);
 
private:
  ::ad::rss::world::RoadArea createRoadArea(::ad::map::route::FullRoute const &route,
                                            ::ad::map::route::RouteLaneOffset const minLaneOffset,
                                            ::ad::map::route::RouteLaneOffset const maxLaneOffset,
                                            ::ad::map::lane::LaneIdSet const &intersectionLanes,
                                            std::vector<RssObjectConversion::Ptr> objects);
 
  ::ad::rss::world::RoadArea createNonIntersectionRoadArea(::ad::map::route::FullRoute const &route,
                                                           std::vector<RssObjectConversion::Ptr> objects);
 
  ::ad::rss::world::RoadArea createMergingRoadArea(::ad::map::route::FullRoute const &route,
                                                   RssObjectConversion::Ptr object);
 
  ::ad::rss::world::RoadArea createIntersectionRoadArea(::ad::map::route::FullRoute const &route,
                                                        ::ad::map::intersection::IntersectionConstPtr intersection,
                                                        RssObjectConversion::Ptr object);
 
  bool appendScene(::ad::rss::situation::SituationType const &situationType,
                   RssObjectConversion::ConstPtr egoObject,
                   ::ad::rss::world::RoadArea const &egoRoad,
                   RssObjectConversion::ConstPtr otherObject,
                   ::ad::rss::world::RoadArea const &intersectingRoad);
 
  double mSpeedLimitFactor;
  ::ad::map::landmark::LandmarkIdSet mGreenTrafficLights;
  RssSceneCreation &mSceneCreation;
};
 
} // namespace map
} // namespace rss
} // namespace ad