distance_condition.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__DISTANCE_CONDITION_HPP_
#define OPENSCENARIO_INTERPRETER__SYNTAX__DISTANCE_CONDITION_HPP_
 
#include <openscenario_interpreter/scope.hpp>
#include <openscenario_interpreter/simulator_core.hpp>
#include <openscenario_interpreter/syntax/boolean.hpp>
#include <openscenario_interpreter/syntax/coordinate_system.hpp>
#include <openscenario_interpreter/syntax/double.hpp>
#include <openscenario_interpreter/syntax/position.hpp>
#include <openscenario_interpreter/syntax/relative_distance_type.hpp>
#include <openscenario_interpreter/syntax/routing_algorithm.hpp>
#include <openscenario_interpreter/syntax/rule.hpp>
#include <openscenario_interpreter/syntax/triggering_entities.hpp>
#include <pugixml.hpp>
#include <valarray>
 
namespace openscenario_interpreter
{
inline namespace syntax
{
/*
   DistanceCondition (OpenSCENARIO XML 1.3)
 
   The current distance between an entity and a position is compared to a given
   distance (less, greater, equal). Several additional parameters like free
   space etc. can be defined. The property "alongRoute" is deprecated. If
   "coordinateSystem" or "relativeDistanceType" are set, "alongRoute" is
   ignored.
 
   <xsd:complexType name="DistanceCondition">
     <xsd:all>
       <xsd:element name="Position" type="Position"/>
     </xsd:all>
     <xsd:attribute name="alongRoute" type="Boolean">
       <xsd:annotation>
         <xsd:appinfo>
           deprecated
         </xsd:appinfo>
       </xsd:annotation>
     </xsd:attribute>
     <xsd:attribute name="freespace" type="Boolean" use="required"/>
     <xsd:attribute name="rule" type="Rule" use="required"/>
     <xsd:attribute name="value" type="Double" use="required"/>
     <xsd:attribute name="coordinateSystem" type="CoordinateSystem"/>
     <xsd:attribute name="relativeDistanceType" type="RelativeDistanceType"/>
     <xsd:attribute name="routingAlgorithm" type="RoutingAlgorithm"/>
   </xsd:complexType>
*/
struct DistanceCondition : private Scope, private SimulatorCore::ConditionEvaluation
{
  /*
     Definition of the coordinate system to be used for calculations. If not
     provided the value is interpreted as "entity". If set, "alongRoute" is
     ignored.
  */
  const CoordinateSystem coordinate_system;
 
  /*
     True: distance is measured between closest bounding box points.
     False: reference point distance is used.
  */
  const Boolean freespace;
 
  /*
     Definition of the coordinate system dimension(s) to be used for calculating
     distances. If set, "alongRoute" is ignored. If not provided, value is
     interpreted as "euclideanDistance".
  */
  const RelativeDistanceType relative_distance_type;
 
  /*
     Algorithm for path selection/calculation between two positions across
     roads. Only relevant, if CoordinateSystem is "road"/"lane". Default value
     if omitted: "undefined".
  */
  const RoutingAlgorithm routing_algorithm;
 
  /*
     The operator (less, greater, equal).
  */
  const Rule rule;
 
  /*
     The distance value. Unit: m; Range: [0..inf[.
  */
  const Double value;
 
  /*
     The given position the distance is related to.
  */
  const Position position;
 
  const TriggeringEntities triggering_entities;
 
  std::vector<std::valarray<double>> results;  // for description
 
  explicit DistanceCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &);
 
  auto description() const -> std::string;
 
  template <
    CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type,
    Boolean::value_type>
  static auto distance(const EntityRef &, const Position &) -> double
  {
    throw SyntaxError(__FILE__, ":", __LINE__);
  }
 
  static auto evaluate(
    const Entities *, const Entity &, const Position &, CoordinateSystem, RelativeDistanceType,
    RoutingAlgorithm, Boolean) -> double;
 
  auto evaluate() -> Object;
};
 
// Ignore spell miss due to OpenSCENARIO standard.
// cspell: ignore euclidian
 
// clang-format off
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &, const Position &) -> double;
template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &, const Position &) -> double;
// clang-format on
}  // namespace syntax
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__DISTANCE_CONDITION_HPP_